A Study on Building Optimal Path Planning Algorithms for Mobile Robot

Controlling the behavior of mobile robots to interact with the environment in general and the path planning problem for mobile robots in particular set the requirements for establishing methods for evaluating environmental characteristics and decision making for mobile robot. This paper presents the method of determining the trajectoy of the mobile robot to the target with the shortest distance in the known environment as well as in the unknown environment. The method presented in this paper has been improved from the K-Bug algorithm, combined with the Fuzzy logic for boundary following. The proposed algorithm is simulated with MobileSim software and experimented with Mobile Robot Pioneer 3-AT.