Designing an adaptive path execution system

The goal of this research was to develop a fully functional robot in a dynamic environment. The approach to this problem is to plan a path for the robot to move from a starting point using a map that may not have all the current information on the environment. The controller then dynamically reacts in an intelligent fashion to unplanned obstacles along the path. This system attempts to follow the path, adapting its course to the obstacles and shortcuts it perceives along the way. The key element of the approach is in using fuzzy logic to express and manipulate concepts needed for intelligent control. The robot only uses information gathered from the sensors, and avoids dynamically placed obstacles near and along the path.<>