Parameter estimation of potential field method with fuzzy control for motion planning of soccer robot

Based on fuzzy control to adjust attractive factor and repulsive factor of potential function, a method is proposed to navigate a soccer robot from a given initial configuration to a ball and avoid an opponent robot. The potential field method has some problems that include oscillations in the presence of obstacles. Thus, this paper suggests use fuzzy control to adjust attractive factor and repulsive factor. By the attractive factor and repulsive factor of the potential function, the navigation path of the mobile robot is smooth and the shortest. To show the feasibility of the proposed method, the simulation results are included in the following illustrations.