FUZZY ALGORITHM IN MOTION PLANNING SYSTEM-FOR MULTIPLE MOBILE ROBOTS

This Paper has studied real-time motion planning for multiple mobile robots in the dynamic environment. Because of uncertainty of the accurate mathematical model and the disturbance of the environment,it is difficulty for each robot to track the velocity deduced by the expert system strictly. A fuzzy controller is introduced to adjust the actual velocity for minimizing the error. The simulation results based on the scheme are presented to demonstrate its efficiency.