Abstract
This study presents a new path planning method based on Fuzzy Analytic Hierarchy Process (FAHP) for a mobile robot to be effectively operated through a multi-objective decision making problem. Unlike typical AHP, the proposed FAHP has a difference in using triangulation fuzzy number based extent analysis to derive weight vectors among the considerations. FAHP framework for finding the optimal position in this study is defined with the highest level (goal), middle level (objectives), and the lowest level (alternatives). It analytically selects an optimal position as a sub-goal among points on the sensing boundary of the mobile robot considering the three objectives: the travel distance to the target, robot’s rotation, and safety against collision between obstacles. Alternative solutions are evaluated by quantifying the relative importance for the objectives. Comparative results obtained from the artificial potential field, AHP, and FAHP simulations show that FAHP is much preferable for mobile robot’s path planning than typical AHP.
Highlights
Mobile robots are requested to perform their assignment under a variety of working environments such as smart factories, highly automated hospitals, and even homes
A mobile robot path planning strategy based on a multi-objective decision making framework, Analytic Hierarchy Process, has been studied
A path planning method using Analytic Hierarchy Process (AHP) is suggested firstly and the navigation performance is improved by applying Fuzzy based AHP (FAHP)
Summary
Mobile robots are requested to perform their assignment under a variety of working environments such as smart factories, highly automated hospitals, and even homes. One of the important functions on mobile robots for the completion of the required tasks is to reach a target successfully by means of path planning. To this end, there have been many efforts to implement the capability of robot’s path planning [1,2,3,4,5,6]. Beyond the consideration on single objective aspect, i.e., traveling distance or collision safety with obstacles, the majority of current optimal path planning research has focused on multi-objective solving problems. Castillo et al [7] used multi-objective genetic algorithm considering length and travel difficulty of the path as the objectives. Kim and Langari [9] utilized Analytic Hierarchy Process (AHP) to plan an optimal path of mobile robot
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