Multi-Criteria Decision Method Applied to Path Planning for Mobile Robots

• Caio V. S. Do Carmo UFPA
• Marcos C. R. Seruffo UFPA
• Roberto C. L. De Oliveira UFPA

Resumo

This article presents a proposal for path planning of mobile robots using an approach based on the Analytic Hierarchy Process (AHP) multi-criteria decision model. Like other multi-criteria decision methods, the AHP considers and evaluates different candidates/alternatives under different criteria and defines the alternative that best satisfies the relationship between the criteria. The algorithm proposes the evaluation of alternatives based on four criteria: the distance to the target, the angle to the target, the possibility of collision with obstacles and deviation from the planned path. To this end, a global movement planning is performed and will be used by the AHP to define its point-to-point movement. To validate and perform a practical/real analysis of the proposed algorithm, simulations are performed in the CoppeliaSim environment in conjunction with Matlab, using the Pioneer 3-DX mobile robot.

Palavras-chave: Analytical models, Conferences, Education, Analytic hierarchy process, Path planning, Mathematical models, Planning, AHP, path planning, reactive planning, mobile robot, MCDM