A Fusion Method of Local Path Planning for Mobile Robots Based on LSTM Neural Network and Reinforcement Learning

Table 2

Fuzzy control rules.

		dLMdMdRM
		FFF	FFN	FNF	FNN	NFF	NFN	NNF	NNN
Angle_θ	L	MS	FF	MS	SM	MS	MS	FS	SF
	M	FF	FF	SM or MS	SM	FF	FF	MS	SF or FS
	R	SM	SM	SM	SM	FF	SM	MS	FS
	LB	MS	FF	MS	SM	MS	FF	FS	SF
	RB	SM	SM	SM	MS	FF	FF	FS	FS