Frontiers of Mechanical Engineering >

2006 , Vol. 1 >Issue 3: 336 - 340

DOI: https://doi.org/10.1007/s11465-006-0033-z

A robot fuzzy motion planning approach in unknown environments

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  • Robotics Institute, Harbin Institute of Technology, Harbin 150001, China

Published date: 05 Sep 2006

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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.

Cite this article

FU Yi-li, JIN Bao, LI Han, WANG Shu-guo . A robot fuzzy motion planning approach in unknown environments[J]. Frontiers of Mechanical Engineering, 2006 , 1(3) : 336 -340 . DOI: 10.1007/s11465-006-0033-z

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