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An Intuitionistic Fuzzy-Based Routing Algorithm for Autonomous Mobile Robot Navigation in Complex Environments with Obstacles

Mahshid Hosseinpoor, Mohammad Hossein Moattar, Seyyed Javad Seyyed Mahdavi Chabok, Alireza Jahandoost

Abstract



The issue of route planning by robots is very important So far, the problem has been solved using a variety of techniques, each of which has some drawbacks. The proposed approach employs intuitionistic fuzzy reasoning for more precise decisions. In this approach, the space is divided into a Voronoi diagram, and the best route is then determined using optimized A* algorithm. The intuitionistic fuzzy set (IFS) is used to smooth out the path where there are fractures around obstacles. Intuitive fuzzy has inputs including the distances between the robot and obstacles, the amount of friction the robot) for the first time( has with the surface it is moving over, and the angle of the robot`s head. The output of the system is the speed of the right and left wheels and the next angle of the robot`s head. Although fuzzy systems have previously been used to solve the problem but IFS and paying attention to the type of coating (friction coefficient) increase the accuracy compared to traditional methods.

Keywords


Autonomous mobile robot, Path planning, Intuitionistic fuzzy set , Voronoi diagram,

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