Fuzzy Analytic Hierarchy Process-Based Mobile Robot Path Planning

被引：24

作者：

Kim, Changwon ^{[1
]}

Kim, Yeesock ^{[2
]}

Yi, Hak ^{[3
]}

机构：

[1] Korea Inst Machinery & Mat, Daegu Res Ctr Med Devices & Rehab, Daejon 305343, South Korea

[2] Calif Baptist Univ, Gordon & Jill Bourns Coll Engn, Riverside, CA 92504 USA

[3] Kyungpook Natl Univ, Sch Mech Engn, Daegu 41566, South Korea

来源：

ELECTRONICS | 2020年 / 9卷 / 02期

关键词：

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

D O I：

10.3390/electronics9020290

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页数：18

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