Preprint Article Version 1 This version is not peer-reviewed

Fuzzy Analytic Hierarchy Process-Based Mobile Robot Path Planning

Version 1 : Received: 19 November 2019 / Approved: 20 November 2019 / Online: 20 November 2019 (07:34:53 CET)

How to cite: Kim, C.; Kim, Y.; Yi, H. Fuzzy Analytic Hierarchy Process-Based Mobile Robot Path Planning. Preprints 2019, 2019110235 (doi: 10.20944/preprints201911.0235.v1). Kim, C.; Kim, Y.; Yi, H. Fuzzy Analytic Hierarchy Process-Based Mobile Robot Path Planning. Preprints 2019, 2019110235 (doi: 10.20944/preprints201911.0235.v1).

Abstract

This study presents a path planning method for a mobile robot to be effectively operated through a multi-objective decision-making problem. Specifically, the proposed Fuzzy analytic hierarchy process (FAHP) determines an optimal position as a sub-goal within the multi-objective boundary. The key features of the proposed FAHP are evaluating the candidates according to the fuzzified relative importance among objectives to select an optimal solution. In order to incorporate FAHP into path planning, an AHP framework is defined, which includes the highest level (goal), middle level (objectives), and the lowest level (alternatives). The distance to the target, robot’s rotation, and safety against collision between obstacles are considered as objective functions. Comparative results obtained from the artificial potential field and AHP/FAHP simulations show that FAHP is much preferable for the mobile robot’s path planning than typical AHP.

Subject Areas

fuzzy based AHP (FAHP); multi-objective decision making; path planning; mobile robot

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