Dynamic reconfiguration of costmap parameters with Fuzzy controllers to enhance path planning

Autonomous mobile robots are widely used in industries, and these robots utilize various methods to find their path in complex environments. Path planning methods aim to choose the shortest and fastest route to the target. However, working alongside humans needs a better intuition of the surrounding environment. In this paper, Fuzzy controllers have been designed to reconfigure the costmap parameters of mobile robots, considering the danger of collision in their environment. The Fuzzy controller has been tuned by tracking the behavior of mobile robots in several experiments, and it is observed that conveying the result of these observations to robots would significantly improve their navigation behavior. The results of this work are applicable to all path planning methods working based on costmaps.