Static and dynamic path optimization of multiple mobile robot using hybridized fuzzy logic-whale optimization algorithm

Saroj Kumar; Dayal R. Parhi; Abhishek K. Kashyap; Manoj K. Muni

doi:10.1177/0954406220982641

Static and dynamic path optimization of multiple mobile robot using hybridized fuzzy logic-whale optimization algorithm

Saroj Kumar^*
, Dayal R. Parhi
, Abhishek K. Kashyap
, Manoj K. Muni

^*Corresponding author for this work

Department of Mechatronics Engineering, Manipal Institute of Technology, Manipal

Research output: Contribution to journal › Article › peer-review

30 Citations (Scopus)

Abstract

Fuzzy logic is widely known as a value-based technique. Whale optimization algorithm (WOA), on the other hand, is a nature-inspired optimization technique. Hybridization of these two techniques is proposed for path planning and control, over multiple mobile robots in static and dynamic environments. The effectiveness of the resulting technique, known as ‘Fuzzy-WOA’, is tested through MATLAB simulation coupled with real-time experiments. Upon testing, a good agreement is observed between these platforms. Furthermore, the proposed technique is found to be more efficient when compared to other existing techniques, with a significant improvement of about 20.63% in terms of path lengths.

Original language	English
Pages (from-to)	5718-5735
Number of pages	18
Journal	Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Volume	235
Issue number	21
DOIs	https://doi.org/10.1177/0954406220982641
Publication status	Published - 11-2021

All Science Journal Classification (ASJC) codes

Mechanical Engineering

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10.1177/0954406220982641

Cite this

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title = "Static and dynamic path optimization of multiple mobile robot using hybridized fuzzy logic-whale optimization algorithm",

abstract = "Fuzzy logic is widely known as a value-based technique. Whale optimization algorithm (WOA), on the other hand, is a nature-inspired optimization technique. Hybridization of these two techniques is proposed for path planning and control, over multiple mobile robots in static and dynamic environments. The effectiveness of the resulting technique, known as {\textquoteleft}Fuzzy-WOA{\textquoteright}, is tested through MATLAB simulation coupled with real-time experiments. Upon testing, a good agreement is observed between these platforms. Furthermore, the proposed technique is found to be more efficient when compared to other existing techniques, with a significant improvement of about 20.63\% in terms of path lengths.",

author = "Saroj Kumar and Parhi, \{Dayal R.\} and Kashyap, \{Abhishek K.\} and Muni, \{Manoj K.\}",

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year = "2021",

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volume = "235",

pages = "5718--5735",

journal = "Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science",

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Static and dynamic path optimization of multiple mobile robot using hybridized fuzzy logic-whale optimization algorithm. / Kumar, Saroj; Parhi, Dayal R.; Kashyap, Abhishek K. et al.
In: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, Vol. 235, No. 21, 11.2021, p. 5718-5735.

Research output: Contribution to journal › Article › peer-review

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T1 - Static and dynamic path optimization of multiple mobile robot using hybridized fuzzy logic-whale optimization algorithm

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AU - Parhi, Dayal R.

AU - Kashyap, Abhishek K.

AU - Muni, Manoj K.

PY - 2021/11

Y1 - 2021/11

N2 - Fuzzy logic is widely known as a value-based technique. Whale optimization algorithm (WOA), on the other hand, is a nature-inspired optimization technique. Hybridization of these two techniques is proposed for path planning and control, over multiple mobile robots in static and dynamic environments. The effectiveness of the resulting technique, known as ‘Fuzzy-WOA’, is tested through MATLAB simulation coupled with real-time experiments. Upon testing, a good agreement is observed between these platforms. Furthermore, the proposed technique is found to be more efficient when compared to other existing techniques, with a significant improvement of about 20.63% in terms of path lengths.

AB - Fuzzy logic is widely known as a value-based technique. Whale optimization algorithm (WOA), on the other hand, is a nature-inspired optimization technique. Hybridization of these two techniques is proposed for path planning and control, over multiple mobile robots in static and dynamic environments. The effectiveness of the resulting technique, known as ‘Fuzzy-WOA’, is tested through MATLAB simulation coupled with real-time experiments. Upon testing, a good agreement is observed between these platforms. Furthermore, the proposed technique is found to be more efficient when compared to other existing techniques, with a significant improvement of about 20.63% in terms of path lengths.

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Static and dynamic path optimization of multiple mobile robot using hybridized fuzzy logic-whale optimization algorithm

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