A Swarm Intelligence Graph-Based Pathfinding Algorithm Based on Fuzzy Logic (SIGPAF): A Case Study on Unmanned Surface Vehicle Multi-Objective Path Planning

Advances in robotic motion and computer vision have contributed to the increased use of automated and unmanned vehicles in complex and dynamic environments for various applications. Unmanned surface vehicles (USVs) have attracted a lot of attention from scientists to consolidate the wide use of USVs...

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Autores principales:	Charis Ntakolia, Dimitrios V. Lyridis
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	path planning metaheuristic algorithms unmanned surface vehicles maritime transportation optimization fuzzy logic Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581
Acceso en línea:	https://doaj.org/article/f786b1e63ff44846b9bfdb4bec007dfb
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id	oai:doaj.org-article:f786b1e63ff44846b9bfdb4bec007dfb
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spelling	oai:doaj.org-article:f786b1e63ff44846b9bfdb4bec007dfb2021-11-25T18:04:39ZA Swarm Intelligence Graph-Based Pathfinding Algorithm Based on Fuzzy Logic (SIGPAF): A Case Study on Unmanned Surface Vehicle Multi-Objective Path Planning10.3390/jmse91112432077-1312https://doaj.org/article/f786b1e63ff44846b9bfdb4bec007dfb2021-11-01T00:00:00Zhttps://www.mdpi.com/2077-1312/9/11/1243https://doaj.org/toc/2077-1312Advances in robotic motion and computer vision have contributed to the increased use of automated and unmanned vehicles in complex and dynamic environments for various applications. Unmanned surface vehicles (USVs) have attracted a lot of attention from scientists to consolidate the wide use of USVs in maritime transportation. However, most of the traditional path planning approaches include single-objective approaches that mainly find the shortest path. Dynamic and complex environments impose the need for multi-objective path planning where an optimal path should be found to satisfy contradicting objective terms. To this end, a swarm intelligence graph-based pathfinding algorithm (SIGPA) has been proposed in the recent literature. This study aims to enhance the performance of SIGPA algorithm by integrating fuzzy logic in order to cope with the multiple objectives and generate quality solutions. A comparative evaluation is conducted among SIGPA and the two most popular fuzzy inference systems, Mamdani (SIGPAF-M) and Takagi–Sugeno–Kang (SIGPAF-TSK). The results showed that depending on the needs of the application, each methodology can contribute respectively. SIGPA remains a reliable approach for real-time applications due to low computational effort; SIGPAF-M generates better paths; and SIGPAF-TSK reaches a better trade-off among solution quality and computation time.Charis NtakoliaDimitrios V. LyridisMDPI AGarticlepath planningmetaheuristic algorithmsunmanned surface vehiclesmaritime transportationoptimizationfuzzy logicNaval architecture. Shipbuilding. Marine engineeringVM1-989OceanographyGC1-1581ENJournal of Marine Science and Engineering, Vol 9, Iss 1243, p 1243 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	path planning metaheuristic algorithms unmanned surface vehicles maritime transportation optimization fuzzy logic Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581
spellingShingle	path planning metaheuristic algorithms unmanned surface vehicles maritime transportation optimization fuzzy logic Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581 Charis Ntakolia Dimitrios V. Lyridis A Swarm Intelligence Graph-Based Pathfinding Algorithm Based on Fuzzy Logic (SIGPAF): A Case Study on Unmanned Surface Vehicle Multi-Objective Path Planning
description	Advances in robotic motion and computer vision have contributed to the increased use of automated and unmanned vehicles in complex and dynamic environments for various applications. Unmanned surface vehicles (USVs) have attracted a lot of attention from scientists to consolidate the wide use of USVs in maritime transportation. However, most of the traditional path planning approaches include single-objective approaches that mainly find the shortest path. Dynamic and complex environments impose the need for multi-objective path planning where an optimal path should be found to satisfy contradicting objective terms. To this end, a swarm intelligence graph-based pathfinding algorithm (SIGPA) has been proposed in the recent literature. This study aims to enhance the performance of SIGPA algorithm by integrating fuzzy logic in order to cope with the multiple objectives and generate quality solutions. A comparative evaluation is conducted among SIGPA and the two most popular fuzzy inference systems, Mamdani (SIGPAF-M) and Takagi–Sugeno–Kang (SIGPAF-TSK). The results showed that depending on the needs of the application, each methodology can contribute respectively. SIGPA remains a reliable approach for real-time applications due to low computational effort; SIGPAF-M generates better paths; and SIGPAF-TSK reaches a better trade-off among solution quality and computation time.
format	article
author	Charis Ntakolia Dimitrios V. Lyridis
author_facet	Charis Ntakolia Dimitrios V. Lyridis
author_sort	Charis Ntakolia
title	A Swarm Intelligence Graph-Based Pathfinding Algorithm Based on Fuzzy Logic (SIGPAF): A Case Study on Unmanned Surface Vehicle Multi-Objective Path Planning
title_short	A Swarm Intelligence Graph-Based Pathfinding Algorithm Based on Fuzzy Logic (SIGPAF): A Case Study on Unmanned Surface Vehicle Multi-Objective Path Planning
title_full	A Swarm Intelligence Graph-Based Pathfinding Algorithm Based on Fuzzy Logic (SIGPAF): A Case Study on Unmanned Surface Vehicle Multi-Objective Path Planning
title_fullStr	A Swarm Intelligence Graph-Based Pathfinding Algorithm Based on Fuzzy Logic (SIGPAF): A Case Study on Unmanned Surface Vehicle Multi-Objective Path Planning
title_full_unstemmed	A Swarm Intelligence Graph-Based Pathfinding Algorithm Based on Fuzzy Logic (SIGPAF): A Case Study on Unmanned Surface Vehicle Multi-Objective Path Planning
title_sort	swarm intelligence graph-based pathfinding algorithm based on fuzzy logic (sigpaf): a case study on unmanned surface vehicle multi-objective path planning
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/f786b1e63ff44846b9bfdb4bec007dfb
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A Swarm Intelligence Graph-Based Pathfinding Algorithm Based on Fuzzy Logic (SIGPAF): A Case Study on Unmanned Surface Vehicle Multi-Objective Path Planning

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