FL-MTSP: a fuzzy logic approach to solve the multi-objective multiple traveling salesman problem for multi-robot systems

This paper considers the problem of assigning target locations to be visited by mobile robots. We formulate the problem as a multiple-depot multiple traveling salesman problem (MD-MTSP), an NP-Hard problem instance of the MTSP. In contrast to most previous works, we seek to optimize multiple perform...

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Bibliographic Details
Published in:Soft computing (Berlin, Germany) Germany), 2017-12, Vol.21 (24), p.7351-7362
Main Authors: Trigui, Sahar, Cheikhrouhou, Omar, Koubaa, Anis, Baroudi, Uthman, Youssef, Habib
Format: Article
Language:English
Subjects:
Artificial Intelligence
Collaboration
Computational Intelligence
Control
Engineering
Fuzzy logic
Genetic algorithms
Mathematical Logic and Foundations
Mechatronics
Methodologies and Application
Multiple robots
Objectives
Optimization
Performance measurement
Robotics
Robots
Simulation
Taxonomy
Traveling salesman problem
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Summary:This paper considers the problem of assigning target locations to be visited by mobile robots. We formulate the problem as a multiple-depot multiple traveling salesman problem (MD-MTSP), an NP-Hard problem instance of the MTSP. In contrast to most previous works, we seek to optimize multiple performance criteria, namely the maximum traveled distance and the total traveled distance, simultaneously. To address this problem, we propose, FL-MTSP, a new fuzzy logic approach that combines both metrics into a single fuzzy metric, reducing the problem to a single-objective optimization problem. Extensive simulations show that the proposed fuzzy logic approach outperforms an existing centralized Genetic Algorithm (MDMTSP_GA) in terms of providing a good trade-off of the two performance metrics of interest. In addition, the execution time of FL-MTSP was shown to be always faster than that of the MDMTSP_GA approach, with a ratio of 89 %.
ISSN:1432-7643
1433-7479
DOI:10.1007/s00500-016-2279-7