Mobile robot path planning and tracking using simulated annealing and fuzzy logic control

This article describes the development and implementation of an automatic controller for path planning and navigation of an autonomous mobile robot using simulated annealing and fuzzy logic. The simulated annealing algorithm was used to obtain a collision-free optimal trajectory among fixed polygonal obstacles. C-space was used to represent the working space and B-spline curves were used to represent the trajectories. The trajectory tracking was performed with a fuzzy logic algorithm. A detailed explanation of the algorithm is given. The objectives of the control algorithm were to track the planned trajectory and to avoid collision with moving obstacles. Simulation and implementation results are shown. A Nomadic 200 mobile robot was used to perform the experiments. (C) 1998 Elsevier Science Ltd. All rights reserved.