NDLI: A probability-based path planning method using fuzzy logic

Content Provider	IEEE Xplore Digital Library
Author	Jaeyeon Lee Wooram Park
Copyright Year	2014
Description	Author affiliation: Dept. of Electr. Eng., Univ. of Texas at Dallas, Richardson, TX, USA (Jaeyeon Lee) \|\| Dept. of Mech. Eng., Univ. of Texas at Dallas, Richardson, TX, USA (Wooram Park)
Abstract	In this paper, we improve the path-of-probability (POP) algorithm to generate better and smoother paths for robotic systems. The POP algorithm generates a full path with the maximum probability to reach a target. Although the POP algorithm has been successfully applied to path generation of robotic systems, it has the limit that the intermediate paths are generated using a finite and small number of candidate paths. This results in non-smooth (or zigzag pattern) paths which are not desirable for practical use. In addition, this approach sometimes fails to generate a path that reaches a target. This can be overcome by increasing the number of candidate paths, but it increases the computation time too. To improve the POP method, we use a fuzzy logic. The fuzzy logic enables us to obtain a continuous set for the intermediate paths from the discrete candidate paths. By applying it, smoother paths from the starting point to the target can be obtained directly without any additional path smoothing because the intermediate paths are chosen from a continuous set. Fundamentally, the fuzzy logic makes a mapping from a finite and discrete set of candidate paths to a continuous set of paths. We apply the proposed method to path planning for a two wheeled robot and a flexible needle. The simulation results confirm the performance of the proposed approach.
Starting Page	2978
Ending Page	2984
File Size	1449132
Page Count	7
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942973
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy logic Needles Mobile robots Smoothing methods Path planning Stochastic processes
Content Type	Text
Resource Type	Article

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