A Fuzzy Control Strategy for Multi-Goal Autonomous Robot Navigation
This paper addresses the complex problem of multi-goal robot navigation, framed as an NP-hard traveling salesman problem (TSP), in environments with both static and dynamic obstacles. The proposed approach integrates a novel path planning algorithm based on the Bump-Surface concept to optimize the s...
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| Format: | Article |
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MDPI AG
2025-01-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/2/446 |
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| author | Stavros Stavrinidis Paraskevi Zacharia Elias Xidias |
| author_facet | Stavros Stavrinidis Paraskevi Zacharia Elias Xidias |
| author_sort | Stavros Stavrinidis |
| collection | DOAJ |
| description | This paper addresses the complex problem of multi-goal robot navigation, framed as an NP-hard traveling salesman problem (TSP), in environments with both static and dynamic obstacles. The proposed approach integrates a novel path planning algorithm based on the Bump-Surface concept to optimize the shortest collision-free path among static obstacles, while a Genetic Algorithm (GA) is employed to determine the optimal sequence of goal points. To manage static or dynamic obstacles, two fuzzy controllers are developed: one for real-time path tracking and another for dynamic obstacle avoidance. This dual-controller system enables the robot to adaptively adjust its trajectory while ensuring collision-free navigation in unpredictable environments. The integration of fuzzy logic with TSP-based path planning and real-time dynamic obstacle handling represents a significant advancement in autonomous robot navigation. Simulations conducted in CoppeliaSim validate the effectiveness of the proposed method, demonstrating robust navigation and obstacle avoidance in realistic environments. This work provides a comprehensive framework for solving multi-goal navigation tasks by incorporating TSP optimization with dynamic, real-time path adjustments. |
| format | Article |
| id | doaj-art-d2668cdb12404202817b9b38e09ed44b |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-d2668cdb12404202817b9b38e09ed44b2025-01-24T13:48:57ZengMDPI AGSensors1424-82202025-01-0125244610.3390/s25020446A Fuzzy Control Strategy for Multi-Goal Autonomous Robot NavigationStavros Stavrinidis0Paraskevi Zacharia1Elias Xidias2Department of Industrial Design and Production Engineering, University of West Attica, Egaleo, 12241 Athens, GreeceDepartment of Industrial Design and Production Engineering, University of West Attica, Egaleo, 12241 Athens, GreeceDepartment of Product & Systems Design Engineering, University of the Aegean, 84100 Syros, GreeceThis paper addresses the complex problem of multi-goal robot navigation, framed as an NP-hard traveling salesman problem (TSP), in environments with both static and dynamic obstacles. The proposed approach integrates a novel path planning algorithm based on the Bump-Surface concept to optimize the shortest collision-free path among static obstacles, while a Genetic Algorithm (GA) is employed to determine the optimal sequence of goal points. To manage static or dynamic obstacles, two fuzzy controllers are developed: one for real-time path tracking and another for dynamic obstacle avoidance. This dual-controller system enables the robot to adaptively adjust its trajectory while ensuring collision-free navigation in unpredictable environments. The integration of fuzzy logic with TSP-based path planning and real-time dynamic obstacle handling represents a significant advancement in autonomous robot navigation. Simulations conducted in CoppeliaSim validate the effectiveness of the proposed method, demonstrating robust navigation and obstacle avoidance in realistic environments. This work provides a comprehensive framework for solving multi-goal navigation tasks by incorporating TSP optimization with dynamic, real-time path adjustments.https://www.mdpi.com/1424-8220/25/2/446mobile robotnavigationsensorspath planningcollision avoidancegenetic algorithms |
| spellingShingle | Stavros Stavrinidis Paraskevi Zacharia Elias Xidias A Fuzzy Control Strategy for Multi-Goal Autonomous Robot Navigation Sensors mobile robot navigation sensors path planning collision avoidance genetic algorithms |
| title | A Fuzzy Control Strategy for Multi-Goal Autonomous Robot Navigation |
| title_full | A Fuzzy Control Strategy for Multi-Goal Autonomous Robot Navigation |
| title_fullStr | A Fuzzy Control Strategy for Multi-Goal Autonomous Robot Navigation |
| title_full_unstemmed | A Fuzzy Control Strategy for Multi-Goal Autonomous Robot Navigation |
| title_short | A Fuzzy Control Strategy for Multi-Goal Autonomous Robot Navigation |
| title_sort | fuzzy control strategy for multi goal autonomous robot navigation |
| topic | mobile robot navigation sensors path planning collision avoidance genetic algorithms |
| url | https://www.mdpi.com/1424-8220/25/2/446 |
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