Fuzzy logic path planner
Fuzzy logic path planner and motion controller by evolutionary programming for mobile robots
FREE-DOWNLOAD [PDF] BC Min, MS Lee… – International Journal of Fuzzy Systems, 2009 –
Abstract 1 moving obstacles (opponent robots) and a moving target (ball). Until now, many navigation
methods have been demonstrated for robot soccer. Sim et. al.  proposed a four-mode control
structure which has different controllers for four divided areas around a ball. Kim et. al.