The invention provides a multi-
robot path planning and coordination
collision prevention method based on
fuzzy logic. The method comprises the steps of confirming an input variable and an output variable of a fuzzy controller by setting up the fuzzy controller with robots as a
system, using related languages to describe the input variable and the output variable of the fuzzy controller, confirming a qualitative reasoning principle according to the fuzzy
control theory, setting up fuzzy control rules according to input signals and output signals of the fuzzy controller, selecting a subordinating
degree function of each
input language variable and a subordinating
degree function of each output language variable, finally, conducting
defuzzification, conducting voting on the basis of the
maximum principle of the subordinating degree functions, conducting corresponding motions on the robots, and completing the task for planning a path of a single
robot. On the basis of the method, the other robots are regarded as dynamic front barriers, and the aim of coordination
collision prevention of the multiple robots can be achieved.