Static and dynamic path optimization of multiple mobile robot using hybridized fuzzy logic-whale optimization algorithm

Abstract

Fuzzy logic is widely known as a value-based technique. Whale optimization algorithm (WOA), on the other hand, is a nature-inspired optimization technique. Hybridization of these two techniques is proposed for path planning and control, over multiple mobile robots in static and dynamic environments. The effectiveness of the resulting technique, known as ‘Fuzzy-WOA’, is tested through MATLAB simulation coupled with real-time experiments. Upon testing, a good agreement is observed between these platforms. Furthermore, the proposed technique is found to be more efficient when compared to other existing techniques, with a significant improvement of about 20.63% in terms of path lengths.