The International Journal of Fuzzy Logic and Intelligent Systems

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Fig. 6.

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Fig. 6.

Attractive force restoration (AFRE) process: (a) (continued from Figure 5) the subplanner keeps restoring Fatt counter-clockwise by θL. Consequently, the mobile manipulator moves along with the circumference of a circle with radius R, (b) the planner is switched to the APBP since the distance from the closest obstacle is greater than the predetermined safety margin αδ.

International Journal of Fuzzy Logic and Intelligent Systems 2018;18:263-75 https://doi.org/10.5391/IJFIS.2018.18.4.263
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