Adaptive Autonomous Robot Navigation by Neutrosophic WASPAS Extensions

Abstract

In this research, a novel adaptive frontier-assessment-based environment exploration strategy for search and rescue (SAR) robots is presented. Two neutrosophic WASPAS multi-criteria decision-making (MCDM) method extensions that provide the tools for addressing the inaccurate input data characteristics are applied to measure the utilities of the candidate frontiers. Namely, the WASPAS method built under the interval-valued neutrosophic set environment (WASPAS-IVNS) and the WASPAS method built under the m-generalised q-neutrosophic set environment (WASPAS-mGqNS). The indeterminacy component of the neutrosophic set can be considered as the axis of symmetry, and neutrosophic truth and falsity membership functions are asymmetric. As these three components of the neutrosophic set are independent, one can model the input data characteristics applied in the candidate frontier assessment process, while also taking into consideration uncertain or inaccurate input data obtained by the autonomous robot sensors. The performed experiments indicate that the proposed adaptive environment exploration strategy provides better results when compared to the baseline greedy environment exploration strategies.

Keywords

• search and rescue
• autonomous environment exploration
• neutrosophic sets
• multi-criteria decision-making
• WASPAS-SVNS
• WASPAS-IVNS