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Article

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

by 1,† and 2,*,†
1
Daegu Research Center for Medical Devices and Rehabilitation, Korea Institute of Machinery and Materials, Daegu 42994, Korea
2
Department of Mechanical and Automotive Engineering, Jeonju University, Jeonju 55069, Korea
*
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Sensors 2020, 20(10), 2827; https://doi.org/10.3390/s20102827
Received: 10 April 2020 / Revised: 13 May 2020 / Accepted: 15 May 2020 / Published: 16 May 2020
(This article belongs to the Special Issue Advanced Sensing and Control for Mobile Robotic Systems)
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. View Full-Text
Keywords: fuzzy-based AHP (FAHP); multi-objective decision making; path planning; mobile robot fuzzy-based AHP (FAHP); multi-objective decision making; path planning; mobile robot
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MDPI and ACS Style

Kim, C.; Won, J.-S. A Fuzzy Analytic Hierarchy Process and Cooperative Game Theory Combined Multiple Mobile Robot Navigation Algorithm. Sensors 2020, 20, 2827. https://doi.org/10.3390/s20102827

AMA Style

Kim C, Won J-S. A Fuzzy Analytic Hierarchy Process and Cooperative Game Theory Combined Multiple Mobile Robot Navigation Algorithm. Sensors. 2020; 20(10):2827. https://doi.org/10.3390/s20102827

Chicago/Turabian Style

Kim, Changwon; Won, Jong-Seob. 2020. "A Fuzzy Analytic Hierarchy Process and Cooperative Game Theory Combined Multiple Mobile Robot Navigation Algorithm" Sensors 20, no. 10: 2827. https://doi.org/10.3390/s20102827

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