Hybrid motion control of a mobile robot in dynamic environments

The general principles of position-trajectory control PTC for mobile robot motion are presented first. The position-trajectory control PTC path planner is then combined with fuzzy logic inference engine and implemented for mobile robot navigation in a 2-D dynamic environment. The proposed method treats the problems of escaping from trap situations, and the robot motion in narrow passages. The Simulation results using MATLAB verified the effectiveness of the approach in the control system.