Title: Improved real time A*-fuzzy controller for improving multi-robot navigation and its performance analysis

Authors: P.K. Das; S.K. Pradhan; H.K. Tripathy; P.K. Jena

Addresses: Department of Computer Science and Engineering and Information Technology, VSSUT, Burla, Odisha, 768018, India ' Department of Mechanical Engineering, CET, BBSR, Odisha, 751003, India ' Department of Computer Science and Engineering, KIIT University, BBSR, Odisha, 751024, India ' Department of Mechanical Engineering, VSSUT, Burla, Odisha, 768018, India

Abstract: In this paper, we proposed a new hybrid technique for path planning of multi-robot using Improved real time A* algorithm and fuzzy logic controller (IAFLC). The proposed approach used fuzzy logic controller (FLC) to navigate mobile robots through different developed membership function and find the trajectory path for each robot by minimising time, energy, and distance as the cost function. The path planning of multi- robot is carried out in a grid-map or virtual grid environment using modified real time A* algorithm and fuzzy controller. Finally, the analytical and experimental results of the multi-robot path planning were compared to those obtained by FLC and improved A* in a similar environment. The Simulation and the Khepera environment result show outperforms of IAFLC as compared with FLC and improved A* with respect to cost matrix.

Keywords: improved real time A* algorithm; navigation; FLC; fuzzy logic controller; grid or virtual grip environment; IAFLC; improved real time A* algorithm-fuzzy logic controller; Khepera-II.

DOI: 10.1504/IJDS.2017.084765

International Journal of Data Science, 2017 Vol.2 No.2, pp.105 - 137

Received: 24 Apr 2015
Accepted: 16 Jan 2016
Published online: 26 Jun 2017 *

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