Motion planning of an autonomous mobile robot by integrating GAs and fuzzy logic control

This paper is to determine the optimal motion planning for the autonomous mobile robot (AMR) moving in the environment with obstacles. We propose two motion planning methods, one is the linear vertex decision mechanism (LVDM) and the other one is the fuzzy logic decision mechanism (FLDM). Computer simulations are explored to compare the performance of these two mechanisms. Furthermore, we apply the genetic algorithms (GAs) to the LVDM to select the optimal weighting factor and we also adopt the GAs in the FLDM such that the best membership function and/or the number of fuzzy control rules can be obtained. The computer simulations of the evolved LVDM and FLDM with GAs are also provided. All the simulations demonstrate that the proposed schemes can indeed guide the AMR even the circumstance is filled with obstacles.