Mobile Robot Navigation Using Fuzzy- Artificial Potential Field Method

Path planning based on artificial potential field method, particle swarm optimization algorithm and fuzzy logic controller for navigation in static and dynamic environments. Two schemes of motion controller are used. The first scheme is based on PID controller and second scheme is based on fuzzy logic controller. The PID controller parameters and parameters of membership functions have been optimized by using particle swarm optimization (PSO) algorithm.

Autorentext

Alaa Abdulrasool Ahmed -M.Sc., Electrical Engineering, 2015, University of Basra, Iraq-Basra.