Jurnal Rekayasa elektrika
Vol 19, No 1 (2023)

Optimization of Fuzzy Social Force Model Adaptive Parameter using Genetic Algorithm for Mobile Robot Navigation Control

Alif Wicaksana Ramadhan (Politeknik Elektronika Negeri Surabaya)
Bima Sena Bayu Dewantara (Politeknik Elektronika Negeri Surabaya)
Setiawardhana Setiawardhana (Politeknik Elektronika Negeri Surabaya)

Article Info

Publish Date
27 Mar 2023


The Social Force Model (SFM) is a popular navigation technique for mobile robots that is primarily used to simulate pedestrian movement. The SFM method's drawback is that several parameter values, such as gain, k, and impact range, σ, must be determined manually. The reaction of the SFM is frequently inappropriate for certain environmental circumstances as a result of this manual determination. In this paper, we propose employing the Fuzzy Inference System (FIS), whose rules are optimized using a Genetic Algorithm (GA) to manage the value of the gain, k, parameter adaptive. The relative distance, d, and relative angle, α, concerning the robot's obstacle are the inputs for the FIS. The test results using a 3-D realistic CoppeliaSim demonstrated that the learning outcomes of FIS rules could provide adaptive parameter values suitable for each environmental circumstance, allowing the robot to travel smoothly is represented using the robot’s heading deviation which decreasing by and reaching the goal 1.6 sec faster from the starting point to the goal, compared to the SFM with the fixed parameter value. So that the proposed method is more effective and promising when deploying on the real robot implementation.

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Journal Info





Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering


The journal publishes original papers in the field of electrical, computer and informatics engineering which covers, but not limited to, the following scope: Electronics: Electronic Materials, Microelectronic System, Design and Implementation of Application Specific Integrated Circuits (ASIC), VLSI ...