A Fuzzy Analytic Hierarchy Process and Cooperative Game Theory Combined Multiple Mobile Robot Navigation Algorithm.

This study presents a multi-robot navigation strategy based on a multi-objective decision-making algorithm, the Fuzzy Analytic Hierarchy Process (FAHP). FAHP analytically selects an optimal position as a sub-goal among points on the sensing boundary of a mobile robot considering the following three objectives: the travel distance to the target, collision safety with obstacles, and the rotation of the robot to face the target. Alternative solutions are evaluated by quantifying the relative importance of the objectives. As the FAHP algorithm is insufficient for multi-robot navigation, cooperative game theory is added to improve it. The performance of the proposed multi-robot navigation algorithm is tested with up to 12 mobile robots in several simulation conditions, altering factors such as the number of operating robots and the warehouse layout.