Open AccessCloud-Based Multi-Robot Path Planning in Complex and Crowded Environment Using Fuzzy Logic and Online Learning
Author(s) -
Novak Zagradjanin,
Aleksandar Rodić,
Dragan Pamučar,
Bojan Pavković
Publication year - 2021
Publication title -
informacinės technologijos ir valdymas
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.286
H-Index - 19
eISSN - 2335-884X
pISSN - 1392-124X
DOI - 10.5755/j01.itc.50.2.28234
Subject(s) - cloud computing , artificial intelligence , computer science , fuzzy logic , motion planning , robot , path (computing) , robotics , real time computing , architecture , distributed computing , operating system , geography , archaeology
This paper considers an autonomous cloud-based multi-robot system designed to execute highly repetitive tasksin a dynamic environment such as a modern megastore. Cloud level is intended for performing the most demandingoperations in order to unload the robots that are users of cloud services in this architecture. For path planningon global level D* Lite algorithm is applied, bearing in mind its high efficiency in dynamic environments. In orderto introduce smart cost map for further improvement of path planning in complex and crowded environment, implementationof fuzzy inference system and learning algorithm is proposed. The results indicate the possibility ofapplying a similar concept in different real-world robotics applications, in order to reduce the total paths length,as well as to minimize the risk in path planning related to the human-robot interactions.