Path Finding for a Mobile Robot Using Fuzzy and Genetic Algorithms

In this paper is presented a new algorithm for global path planning to a goal for a mobile robot using Fuzzy Logic (FL) and Genetic Algorithm (GA). We have also shown the detection and avoidance of static and dynamic obstacles in a closed environment using a single camera to record the state of environment in which the mobile robot operates. This is done by mapping the environment and optimization using genetic algorithm. During this process for the mobile robot steps generated by Fuzzy logic algorithm have been taken, in order to reach the target. Locations of target and obstacles to find an optimal path are given in a 2-D workplace environment. Besides, optimization steps of path finding; also we did not use real sensors for avoiding obstacle. This problem is solved by using virtual sensors to achieve fast detection and response. For the given mobile robot model, the results of simulation have been also shown by figures.