Robot Path Planning Using Fuzzy Tsukamoto Simulated Annealing

Abstract

We present an adaptive Simulated Annealing (SA) algorithm designed to resolve the path planning problem. The fuzzy logic based on Tsukamoto controller automatically controls the acceptance probability, the temperature cooling schedule and the local search operator of the SA algorithm. The adaption of this parameters is based on the current temperature, the fitness improvement and the solutions similarity. The effectiveness of the proposed algorithm is validated by comparing it with the traditional Simulated Annealing (SA) on benchmark datasets for the path planning problem.