Path Planning Based on Fuzzy Decision Trees and Potential Field

Iswanto Iswanto, Oyas Wahyunggoro, Adha Imam Cahyadi

Abstract


The fuzzy logic algorithm is an artificial intelligence algorithm that uses mathematical logic to solve to by the data value inputs which are not precise in order to reach an accurate conclusion. In this work, Fuzzy decision tree (FDT) has been designed to solve the path planning problem by considering all available information and make the most appropriate decision given by the inputs. The FDT is often used to make a path planning decision in graph theory. It has been applied in the previous researches in the field of robotics, but it still shows drawbacks in that the robot will stop at the local minima and is not able to find the shortest path. Hence, this paper combines the FDT algorithm with the potential field algorithm. The potential field algorithm provides weight to the FDT algorithm which enables the robot to successfully avoid the local minima and find the shortest path.

Keywords


Fuzzy Decision Trees; Loca minima; Non-Holonomic; Path Planning Potential Field

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DOI: http://doi.org/10.11591/ijece.v6i1.pp212-222

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International Journal of Electrical and Computer Engineering (IJECE)
p-ISSN 2088-8708, e-ISSN 2722-2578