Motion Planning for Intelligent Security Robot with Limited Sensory Information

Abstract

Plenty of motion planning methods have been proposed and achieved good performance in static environments. However, motion planning for obstacle avoidance in dynamic and changeable environment is still a challenging task, especially when the tracked object moves freely. This paper presents a practical fuzzy logic based motion planning method for the mobile intelligent security robot with limited sensory information. Vision sensor is used for object tracking, and sonar sensors are used for obstacle avoidance. Fuzzy logic together with three modules: the environment construction module, the reactive planning module, and the action control module are used for obstacle avoidance and navigation. Experimental results show the efficiency and the reliability of this method in the dynamic and uncontrolled environments.