Research Article
Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance
Table 1
The resultant fuzzy rules.
| , , , )th fuzzy rule | IF | THEN | | | | |
| | ND | SA | SA | 15.000 | MA | 3.000 | LA | 0.150 | MA | SA | 3.000 | MA | 0.600 | LA | 0.030 | LA | SA | 1.050 | MA | 0.210 | LA | 0.011 | MD | SA | SA | 4.500 | MA | 0.900 | LA | 0.045 | MA | SA | 0.900 | MA | 0.180 | LA | 0.009 | LA | SA | 0.315 | MA | 0.063 | LA | 0.003 | FD | SA | SA | 0.150 | MA | 0.030 | LA | 0.002 | MA | SA | 0.030 | MA | 0.006 | LA | 0.000 | LA | SA | 0.011 | MA | 0.002 | LA | 0.000 |
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Linguistic meanings: ND, near distance; MD, medium distance; FD, far distance; SA, small angle; MA, medium angle; LA, large angle.
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