A Fuzzy Analytic Hierarchy Process and Cooperative Game Theory Combined Multiple Mobile Robot Navigation Algorithm

A Fuzzy Analytic Hierarchy Process and Cooperative Game Theory Combined Multiple Mobile Robot Navigation Algorithm

This study presents a multi-robot navigation strategy based on a multi-objective decision-making algorithm, the Fuzzy Analytic Hierarchy Process (FAHP). FAHP analytically selects an optimal position as a sub-goal among points on the sensing boundary of a mobile robot considering the following three...

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Main Authors: Changwon Kim, Jong-Seob Won
Format: Article
Language:English
Published: MDPI AG 2020-05-01
Series:Sensors
Subjects:
fuzzy-based AHP (FAHP)
multi-objective decision making
path planning
mobile robot
Online Access:https://www.mdpi.com/1424-8220/20/10/2827
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spelling doaj-3181a869953743ea9ed9d92a9cdf2c332020-11-25T02:59:58ZengMDPI AGSensors1424-82202020-05-01202827282710.3390/s20102827A Fuzzy Analytic Hierarchy Process and Cooperative Game Theory Combined Multiple Mobile Robot Navigation AlgorithmChangwon Kim0Jong-Seob Won1Daegu Research Center for Medical Devices and Rehabilitation, Korea Institute of Machinery and Materials, Daegu 42994, KoreaDepartment of Mechanical and Automotive Engineering, Jeonju University, Jeonju 55069, KoreaThis study presents a multi-robot navigation strategy based on a multi-objective decision-making algorithm, the Fuzzy Analytic Hierarchy Process (FAHP). FAHP analytically selects an optimal position as a sub-goal among points on the sensing boundary of a mobile robot considering the following three objectives: the travel distance to the target, collision safety with obstacles, and the rotation of the robot to face the target. Alternative solutions are evaluated by quantifying the relative importance of the objectives. As the FAHP algorithm is insufficient for multi-robot navigation, cooperative game theory is added to improve it. The performance of the proposed multi-robot navigation algorithm is tested with up to 12 mobile robots in several simulation conditions, altering factors such as the number of operating robots and the warehouse layout.https://www.mdpi.com/1424-8220/20/10/2827fuzzy-based AHP (FAHP)multi-objective decision makingpath planningmobile robot
collection DOAJ
language English
format Article
sources DOAJ
author Changwon Kim
Jong-Seob Won
spellingShingle Changwon Kim
Jong-Seob Won
A Fuzzy Analytic Hierarchy Process and Cooperative Game Theory Combined Multiple Mobile Robot Navigation Algorithm
Sensors
fuzzy-based AHP (FAHP)
multi-objective decision making
path planning
mobile robot
author_facet Changwon Kim
Jong-Seob Won
author_sort Changwon Kim
title A Fuzzy Analytic Hierarchy Process and Cooperative Game Theory Combined Multiple Mobile Robot Navigation Algorithm
title_short A Fuzzy Analytic Hierarchy Process and Cooperative Game Theory Combined Multiple Mobile Robot Navigation Algorithm
title_full A Fuzzy Analytic Hierarchy Process and Cooperative Game Theory Combined Multiple Mobile Robot Navigation Algorithm
title_fullStr A Fuzzy Analytic Hierarchy Process and Cooperative Game Theory Combined Multiple Mobile Robot Navigation Algorithm
title_full_unstemmed A Fuzzy Analytic Hierarchy Process and Cooperative Game Theory Combined Multiple Mobile Robot Navigation Algorithm
title_sort fuzzy analytic hierarchy process and cooperative game theory combined multiple mobile robot navigation algorithm
publisher MDPI AG
series Sensors
issn 1424-8220
publishDate 2020-05-01
description This study presents a multi-robot navigation strategy based on a multi-objective decision-making algorithm, the Fuzzy Analytic Hierarchy Process (FAHP). FAHP analytically selects an optimal position as a sub-goal among points on the sensing boundary of a mobile robot considering the following three objectives: the travel distance to the target, collision safety with obstacles, and the rotation of the robot to face the target. Alternative solutions are evaluated by quantifying the relative importance of the objectives. As the FAHP algorithm is insufficient for multi-robot navigation, cooperative game theory is added to improve it. The performance of the proposed multi-robot navigation algorithm is tested with up to 12 mobile robots in several simulation conditions, altering factors such as the number of operating robots and the warehouse layout.
topic fuzzy-based AHP (FAHP)
multi-objective decision making
path planning
mobile robot
url https://www.mdpi.com/1424-8220/20/10/2827
work_keys_str_mv AT changwonkim afuzzyanalytichierarchyprocessandcooperativegametheorycombinedmultiplemobilerobotnavigationalgorithm
AT jongseobwon afuzzyanalytichierarchyprocessandcooperativegametheorycombinedmultiplemobilerobotnavigationalgorithm
AT changwonkim fuzzyanalytichierarchyprocessandcooperativegametheorycombinedmultiplemobilerobotnavigationalgorithm
AT jongseobwon fuzzyanalytichierarchyprocessandcooperativegametheorycombinedmultiplemobilerobotnavigationalgorithm
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