In internal sealing

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multi-obstacle cabin environment

distribution of obstacles are random and uncertain. In the case of obstacle avoidance for mobile robot

traditional artificial potential field method has problem of goal unreachable and local minimum value. An improved artificial potential field method based on fuzzy logic theory is designed to avoid these problems. In vicinity of local minimum of obstacle avoidance algorithm

auxiliary control force is given by fuzzy logic to help robot escaping local minimum value point. In process of obstacle avoidance

method can effectively avoid local minimum value point and optimize path. Simulation experiment show that in multi-obstacles complex environment the algorithm can achieve real-time and secure obstacle avoidance of robot.