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


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
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CARMO, Caio V. S. Do; SERUFFO, Marcos C. R.; OLIVEIRA, Roberto C. L. De. Multi-Criteria Decision Method Applied to Path Planning for Mobile Robots. In: SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO AMERICANO DE ROBÓTICA (SBR/LARS), 19. , 2022, São Bernardo do Campo/SP. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2022 . p. 127-132.