Development of the method of planning the path of the mobile autonomous robot in a three dimensional environment based on fuzzy logic

Abstract

Development of the method of planning the path of the mobile autonomous robot in a three dimensional environment based on fuzzy logic

Beloglazov D.A., Kosenko E.Yu., Soloviev V.V., Titov A.E., Shapovalov I.O.

Incoming article date: 24.11.2015

The purpose and objectives of this work is to develop methods of planning the path of the mobile autonomous robots operating in environments with unknown location of obstacles. The result of the article is vague planner travel path of autonomous mobile robots for three-dimensional space (3D environments). The results differ from known analogues structure proposed planner, consisting of two interconnected parts, designed for use in horizontal and vertical planes, context-sensitive coordination method "simple" behavior of the mobile robot, a set of rules governing the method of prevention "jam" in the obstacles.

Keywords: Quad copter, management, uncertainty, decision making, fuzzy logic