Robotic Path Finding with Collision Avoidance Using Expert System

A rule-based expert system has been developed and used into a robotic planning system with collision-avoidance. The world model is represented as the knowledge data and stored in the knowledge base with rules. The expert system can find a collision-avoidance path. Otherwise, it shows the collision secton in which the moved object is blocked. Several examples for the different objects to pass through the different channels and to find a collision-free path have been tested. The simulating results of the planner give out the planning sequence or blocked section(s). The output information is useful for making decision of the robot motion and modifying the technological parameters of the world.