Development of an Adaptive AHP Path Planning Method Considering the Mobile Robot Driving Environment

Abstract

This paper aims to enhance the Analytic Hierarchy Process (AHP)-based path planning algorithm by addressing some of its shortcomings. Existing algorithms both struggle to identify optimal paths and lack a systematic approach for constructing relative importance matrices (RMs). To remedy this, the proposed AAHP method integrates the A <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$^{\ast }$ </tex-math></inline-formula> algorithm to enhance path efficiency and incorporates robot sensor detection to systematically determine the optimal RM, unlike the existing AHP method. The performance of the proposed algorithm was evaluated by comparing the navigation performance of the existing AHP method, AAHP without A <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$^{\ast }$ </tex-math></inline-formula> , and AAHP in various scenarios. Simulation results demonstrate the AAHP’s superiority over existing methods in terms of distance and rotation, ultimately highlighting its efficiency in path planning.