Priority Planning for Robots via Fuzzy Logic Controller

Xueliang Cheng; Zhengyi Jiang; Hanlin Niu; Keir Groves; Simon Watson; Nobuto Matsuhira; Barry Lennox; Hajime Asama

Priority Planning for Robots via Fuzzy Logic Controller

Xueliang Cheng, Zhengyi Jiang, Hanlin Niu, Keir Groves, Simon Watson, Nobuto Matsuhira, Barry Lennox, Hajime Asama

University of Tokyo

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

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Abstract

In this paper, a novel solution for resolving path planning conflicts for multiple robots by considering the priority levels of the robots is proposed. The proposed algorithm integrated fuzzy logic controller inspired by International Regulations for Preventing Collisions at Sea (COLREGs) traffic rules with a collision area membership function that identifies suitable traffic procedures for each robot to take, into the existing local and global planner and to address the problem of robot navigation in narrow environments. The proposed algorithm was validated using a simulation that used parameters from a Pioneer 3DX robot and a 2D scanned world map. The robots that were used, and the proposed planning algorithm, are generic and could be applied in various real scenarios, such as production facilities, warehouses and product delivery. The results of the simulation experiments demonstrate that this algorithm can effectively solve the problem of ensuring that robots with higher priority pass through narrow areas first.

Original language	English
Title of host publication	IFAC World Congress 2023
Publication status	Accepted/In press - 28 Jun 2023

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Priority Planning for Robots via Fuzzy Logic ControllerAccepted author manuscript, 1.94 MBLicence: CC BY

RAI: Centre for Robotics and Artificial Intelligence
Cangelosi, A. (PI), Lennox, B. (PI), Weightman, A. (CoI), Dennis, L. (CoI), Dixon, C. (CoI), Fisher, M. (CoI), Herrmann, G. (CoI), Dickson, A. (CoI), Lanzon, A. (CoI), Stancu, A. (CoI), Miller, A. (CoI), Freitas, A. (CoI), Nini, A. (CoI), Voronkov, A. (CoI), Brass, A. (CoI), Vijayaraghavan, A. (CoI), Parslew, B. (CoI), crowther, W. (CoI), Grieve, B. (CoI), Adorno, B. (CoI), Jay, C. (CoI), Wang, C. C. L. (CoI), Todd, C. (CoI), Soutis, C. (CoI), Arsene, C. (CoI), Dresner, D. (CoI), Barrett, E. (CoI), Gowen, E. (CoI), Arvin, F. (CoI), Podd, F. (CoI), Brown, G. (CoI), Reger, G. (CoI), Cooper, G. (CoI), Mairs, H. (CoI), Yin, H. (CoI), Kinloch, I. (CoI), Eleftheriou, I. (CoI), Li, J. (CoI), Carrasco Gomez, J. (CoI), Ainsworth, J. (CoI), Sinha, J. (CoI), Ozanyan, K. (CoI), Smith, K. (CoI), Twomey, K. (CoI), Margetts, L. (CoI), Ren, L. (CoI), Zhang, L. (CoI), Cordeiro, L. (CoI), Rattray, M. (PI), Bissett, M. (CoI), Elliot, M. (CoI), Alvarez, M. (CoI), Luján, M. (CoI), Nabawy BSc, MSc, PhD, MRAeS, SMAIAA, FHEA, M. (CoI), Peek, N. (CoI), Marjanovic, O. (CoI), Dorn, O. (CoI), Dudek, P. (CoI), Green, P. (CoI), Connolly, P. (CoI), Da Silva Bartolo, P. J. (CoI), Gardner, P. (CoI), Martin, P. (CoI), Potluri, P. (CoI), Curtis, R. (CoI), Schmidt, R. (CoI), Banach, R. (CoI), Batista-Navarro, R. T. (CoI), Kaski, S. (CoI), Midson, S. (CoI), Watson, S. (CoI), Holm, S. (CoI), Furber, S. (CoI), Schlegel, V. (CoI), Mirihanage, W. (CoI), Mansell, W. (CoI), Pan, W. (CoI), Sampson, B. (CoI), Sellers, W. (CoI), Yang, W. (CoI), Cai, P. (CoI), Sun, Y. (CoI), Alharthi, A. (Researcher), Macario Rojas, A. (Researcher), Serhan, B. (Researcher), Yu, C. (Researcher), Abara, D. (Researcher), Lopez Pulgarin, E. (Researcher), Faruq, F. (Researcher), Tavella, F. (Researcher), Semeraro, F. (Researcher), Liu, G. (Researcher), Fang, G. (Researcher), Niu, H. (Researcher), Taylor, H. (PI), Zhu, H. (PGR student), Collenette, J. (Researcher), Amano, K. (Researcher), Lo, K. C. J. (PGR student), Raggioli, L. (Researcher), Romeo, M. (Researcher), Ruocco, M. (PGR student), Ghaffari Saadat, M. (Researcher), Walmsley, M. (Researcher), Mubarik, A. (Researcher), Vinanzi, S. (Researcher), Su, Y.-H. (PGR student), McAleese, H. (PGR student), Stringer, P. (PGR student), Stoican, R. (PGR student), Ye, R. (PGR student), Kurawa, S. S. (PGR student), Zhang, T. (PGR student), Krywonos, W. (PGR student), Xu, Y. (PGR student), Tian, Y. (PGR student), Henderson, A. (Technical team), Morley, D. (Support team), Tallentire, J. (Support team), Smith, J. (Support team), Hawthornthwaite, S. (Support team), Carlson, J. (Support team) & Baniqued, P. D. (Researcher)
Project: Research

1 Conference contribution

Development and Extension of a Robot Network Platform Using RSNP
Matsuhira, N., Song, Y.-W., Yao, K., Bishop, C., Yu, S.-C., Groves, K., Watson, S., Sasaki, T. & Yamashita, A., 30 Jun 2025, (Accepted/In press) 2025 SICE Festival with Annual Conference (SICE FES 2025).
Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

Cite this

@inproceedings{05de1e301bfb449b9d4ea55bf3829c21,

title = "Priority Planning for Robots via Fuzzy Logic Controller",

abstract = "In this paper, a novel solution for resolving path planning conflicts for multiple robots by considering the priority levels of the robots is proposed. The proposed algorithm integrated fuzzy logic controller inspired by International Regulations for Preventing Collisions at Sea (COLREGs) traffic rules with a collision area membership function that identifies suitable traffic procedures for each robot to take, into the existing local and global planner and to address the problem of robot navigation in narrow environments. The proposed algorithm was validated using a simulation that used parameters from a Pioneer 3DX robot and a 2D scanned world map. The robots that were used, and the proposed planning algorithm, are generic and could be applied in various real scenarios, such as production facilities, warehouses and product delivery. The results of the simulation experiments demonstrate that this algorithm can effectively solve the problem of ensuring that robots with higher priority pass through narrow areas first.",

author = "Xueliang Cheng and Zhengyi Jiang and Hanlin Niu and Keir Groves and Simon Watson and Nobuto Matsuhira and Barry Lennox and Hajime Asama",

year = "2023",

month = jun,

day = "28",

language = "English",

booktitle = "IFAC World Congress 2023",

}

TY - GEN

T1 - Priority Planning for Robots via Fuzzy Logic Controller

AU - Cheng, Xueliang

AU - Jiang, Zhengyi

AU - Niu, Hanlin

AU - Groves, Keir

AU - Watson, Simon

AU - Matsuhira, Nobuto

AU - Lennox, Barry

AU - Asama, Hajime

PY - 2023/6/28

Y1 - 2023/6/28

N2 - In this paper, a novel solution for resolving path planning conflicts for multiple robots by considering the priority levels of the robots is proposed. The proposed algorithm integrated fuzzy logic controller inspired by International Regulations for Preventing Collisions at Sea (COLREGs) traffic rules with a collision area membership function that identifies suitable traffic procedures for each robot to take, into the existing local and global planner and to address the problem of robot navigation in narrow environments. The proposed algorithm was validated using a simulation that used parameters from a Pioneer 3DX robot and a 2D scanned world map. The robots that were used, and the proposed planning algorithm, are generic and could be applied in various real scenarios, such as production facilities, warehouses and product delivery. The results of the simulation experiments demonstrate that this algorithm can effectively solve the problem of ensuring that robots with higher priority pass through narrow areas first.

AB - In this paper, a novel solution for resolving path planning conflicts for multiple robots by considering the priority levels of the robots is proposed. The proposed algorithm integrated fuzzy logic controller inspired by International Regulations for Preventing Collisions at Sea (COLREGs) traffic rules with a collision area membership function that identifies suitable traffic procedures for each robot to take, into the existing local and global planner and to address the problem of robot navigation in narrow environments. The proposed algorithm was validated using a simulation that used parameters from a Pioneer 3DX robot and a 2D scanned world map. The robots that were used, and the proposed planning algorithm, are generic and could be applied in various real scenarios, such as production facilities, warehouses and product delivery. The results of the simulation experiments demonstrate that this algorithm can effectively solve the problem of ensuring that robots with higher priority pass through narrow areas first.

M3 - Conference contribution

BT - IFAC World Congress 2023

ER -

Priority Planning for Robots via Fuzzy Logic Controller

Abstract

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Projects

RAI: Centre for Robotics and Artificial Intelligence

Research output

Development and Extension of a Robot Network Platform Using RSNP

Cite this