A robot fuzzy motion planning approach in unknown environments

Abstract

A fuzzy robot motion planning approach is proposed in unknown environments for three-degree industrial robots. The proposed planning system is composed of several separate fuzzy units, which control individually each manipulator joint. Each unit combines a repelling influence, which is related to the nearby obstacle, with the attracting influence produced by the final manipulator configuration, to generate actuating command for each link. Effectiveness of the proposed approach is verified through simulation.