Path planning for mobile robots with leg/wheel hybrid locomotion system on outdoor terrain

As the increasing of the population of leg/wheel robots in field trip, a typical path planning method is needed. This paper proposed a multi-layer strategy based on fuzzy logic for a multi leg/wheel hybrid mobile robot. Three main fuzzy logic controllers are proposed for adjusting direction, velocity and selecting locomotion type. Simulations were made step by step in Matlab. Positive results proved that our method is a possible solution.