The article reviews such problems as global trajectory forming upon the plane surface for mobile robotic complex, obstacle detection and local detour trajectory building using MatLab standard built-in libraries. The algorithm was divided into several logical parts: fuzzy rule set construction based on prior knowledge about initial vehicle orientation and target position for the global routing; avoiding critical hindrance, which do not allow to continue planned movement; fuzzy knowledge base forming for the local detour trajectory building; ensuring a stable return to the original global

Topics
MATLAB, Databases, Robotics, Libraries
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