{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,18]],"date-time":"2026-06-18T15:37:27Z","timestamp":1781797047321,"version":"3.54.5"},"reference-count":50,"publisher":"SAGE Publications","issue":"5","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IFS"],"published-print":{"date-parts":[[2020,11,19]]},"abstract":"<jats:p>In this paper, we propose a method to assess the collision risk and a strategy to avoid the collision for solving the problem of dynamic real-time collision avoidance between robots when a multi-robot system is applied to perform a given task collaboratively and cooperatively. The collision risk assessment method is based on the moving direction and position of robots, and the collision avoidance strategy is based on the artificial potential field (APF) and the fuzzy inference system (FIS). The traditional artificial potential field (TAPF) has the problem of the local minimum, which will be optimized by improving the repulsive field function. To adjust the speed of the robot adaptively and improve the security performance of the system, the FIS is used to plan the speed of robots. The hybridization of the improved artificial potential field (IAPF) and the FIS will make each robot safely and quickly find a collision-free path from the starting position to the target position in a completely unknown environment. The simulation results show that the strategy is effective and useful for collision avoidance in multi-robot systems.<\/jats:p>","DOI":"10.3233\/jifs-200869","type":"journal-article","created":{"date-parts":[[2020,9,8]],"date-time":"2020-09-08T11:01:23Z","timestamp":1599562883000},"page":"7621-7637","source":"Crossref","is-referenced-by-count":45,"title":["Multi-robot path planning based on improved artificial potential field and fuzzy inference system1"],"prefix":"10.1177","volume":"39","author":[{"given":"Tao","family":"Zhao","sequence":"first","affiliation":[{"name":"College of Electrical Engineering, Sichuan University, Chengdu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haodong","family":"Li","sequence":"additional","affiliation":[{"name":"College of Electrical Engineering, Sichuan University, Chengdu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Songyi","family":"Dian","sequence":"additional","affiliation":[{"name":"College of Electrical Engineering, Sichuan University, Chengdu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","reference":[{"key":"10.3233\/JIFS-200869_ref1","doi-asserted-by":"crossref","first-page":"735","DOI":"10.1016\/j.neucom.2016.05.057","article-title":"A hybrid improved PSO-DV algorithm for multi-robot path planning in a clutter environment","volume":"207","author":"Das","year":"2016","journal-title":"Neurocomputing"},{"issue":"4","key":"10.3233\/JIFS-200869_ref2","doi-asserted-by":"crossref","first-page":"267","DOI":"10.2478\/jaiscr-2019-0008","article-title":"Collision-free autonomous robot navigation in unknown environments utilizing PSO for path planning","volume":"9","author":"Krell","year":"2019","journal-title":"Journal of Artificial Intelligence and Soft Computing Research"},{"issue":"5","key":"10.3233\/JIFS-200869_ref4","doi-asserted-by":"crossref","first-page":"1163","DOI":"10.1109\/TRO.2016.2593448","article-title":"Optimal multirobot path planning on graphs: Complete algorithms and effective heuristics","volume":"32","author":"Yu","year":"2016","journal-title":"IEEE Transactions on Robotics"},{"issue":"3","key":"10.3233\/JIFS-200869_ref5","first-page":"1","article-title":"Mobile robot navigation and obstacle avoidance techniques: A review","volume":"2","author":"Pandey","year":"2017","journal-title":"International Journal of Robotics and Automation"},{"key":"10.3233\/JIFS-200869_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2020.2983841"},{"key":"10.3233\/JIFS-200869_ref7","doi-asserted-by":"crossref","first-page":"236","DOI":"10.1016\/j.asoc.2019.01.036","article-title":"Mobile robot path planning using membrane evolutionary artificial potential field","volume":"77","author":"Orozco-Rosas","year":"2019","journal-title":"Applied Soft Computing"},{"issue":"15","key":"10.3233\/JIFS-200869_ref8","first-page":"2019","article-title":"Multi-robot path planning method using reinforcement learning","volume":"9","author":"Bae","journal-title":"Applied Sciences"},{"key":"10.3233\/JIFS-200869_ref9","doi-asserted-by":"crossref","first-page":"302","DOI":"10.1016\/j.knosys.2011.11.009","article-title":"A new hybrid navigation algorithm for mobile robots in environments with incomplete knowledge","volume":"27","author":"Zhu","year":"2012","journal-title":"Knowledge-Based Systems"},{"key":"10.3233\/JIFS-200869_ref11","doi-asserted-by":"crossref","first-page":"180","DOI":"10.1016\/j.procs.2018.01.113","article-title":"Genetic algorithm based approach for autonomous mobile robot path planning","volume":"127","author":"Lamini","year":"2018","journal-title":"Procedia Computer Science"},{"issue":"8","key":"10.3233\/JIFS-200869_ref12","doi-asserted-by":"crossref","first-page":"2585","DOI":"10.3390\/s18082585","article-title":"Modified a-star algorithm for efficient coverage path planning in tetris inspired self-reconfigurable robot with integrated laser sensor","volume":"18","author":"Le","year":"2018","journal-title":"Sensors"},{"issue":"19","key":"10.3233\/JIFS-200869_ref13","doi-asserted-by":"crossref","first-page":"5829","DOI":"10.1007\/s00500-016-2161-7","article-title":"An improved ant colony algorithm for robot path planning","volume":"21","author":"Liu","year":"2017","journal-title":"Soft Computing"},{"issue":"6","key":"10.3233\/JIFS-200869_ref14","doi-asserted-by":"crossref","first-page":"3026","DOI":"10.1007\/s12555-018-0037-6","article-title":"Fuzzy greedy RRT path planning algorithm in a complex configuration space","volume":"16","author":"Taheri","year":"2018","journal-title":"International Journal of Control, Automation and Systems"},{"issue":"3","key":"10.3233\/JIFS-200869_ref15","doi-asserted-by":"crossref","first-page":"1803","DOI":"10.1007\/s11071-017-3553-7","article-title":"A type of biased consensus-based distributed neural network for path planning","volume":"89","author":"Zhang","year":"2017","journal-title":"Nonlinear Dynamics"},{"issue":"2","key":"10.3233\/JIFS-200869_ref16","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1016\/j.neucom.2014.06.010","article-title":"Velocity-Change-Space-based dynamic motion planning for mobile robots navigation","volume":"143","author":"Zhong","year":"2014","journal-title":"Neurocomputing"},{"issue":"3","key":"10.3233\/JIFS-200869_ref17","doi-asserted-by":"crossref","first-page":"613","DOI":"10.5370\/JEET.2013.8.3.613","article-title":"Mobile robot destination generation by tracking a remote controller using a vision-aided inertial navigation algorithm","volume":"8","author":"Dang","year":"2013","journal-title":"Journal of Electrical Engineering & Technology"},{"key":"10.3233\/JIFS-200869_ref18","doi-asserted-by":"crossref","first-page":"998","DOI":"10.1016\/j.procs.2018.07.076","article-title":"Obstacle avoidance and navigation planning of a wheeled mobile robot using amended artificial potential field method","volume":"133","author":"Sudhakara","year":"2018","journal-title":"Procedia Computer Science"},{"key":"10.3233\/JIFS-200869_ref19","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1016\/j.pnucene.2018.08.006","article-title":"Probabilistic roadmap method for path-planning in radioactive environment of nuclear facilities","volume":"109","author":"Wang","year":"2018","journal-title":"Progress in Nuclear Energy"},{"issue":"2","key":"10.3233\/JIFS-200869_ref21","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3303848","article-title":"Cooperative heterogeneous multi-robot systems: A survey","volume":"52","author":"Rizk","year":"2019","journal-title":"ACM Computing Surveys"},{"key":"10.3233\/JIFS-200869_ref22","doi-asserted-by":"crossref","first-page":"75","DOI":"10.1016\/j.automatica.2018.11.001","article-title":"Dynamic task allocation in multi-robot coordination for moving target tracking: A distributed approach","volume":"100","author":"Jin","year":"2019","journal-title":"Automatica"},{"issue":"1","key":"10.3233\/JIFS-200869_ref24","doi-asserted-by":"crossref","first-page":"127","DOI":"10.1007\/s11370-017-0240-y","article-title":"Decentralized behavior-based formation control of multiple robots considering obstacle avoidance","volume":"11","author":"Lee","year":"2018","journal-title":"Intelligent Service Robotics"},{"key":"10.3233\/JIFS-200869_ref25","unstructured":"Huang B. , Ye M. , Lee S.L. and Yang G.Z. , A vision-guided multi-robot cooperation framework for learning-by-demonstration and task reproduction, In Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, (2017), pp. 4797\u20134804."},{"key":"10.3233\/JIFS-200869_ref26","doi-asserted-by":"crossref","first-page":"2138","DOI":"10.1109\/ACCESS.2018.2886245","article-title":"Multi-robot path planning based on multi-objective particle swarm optimization","volume":"7","author":"Thabit","year":"2018","journal-title":"IEEE Access"},{"issue":"8","key":"10.3233\/JIFS-200869_ref27","doi-asserted-by":"crossref","first-page":"847","DOI":"10.1007\/s42452-019-0872-y","article-title":"A survey on multi-robot coverage path planning for model reconstruction and mapping","volume":"1","author":"Almadhoun","year":"2019","journal-title":"SN Applied Sciences"},{"key":"10.3233\/JIFS-200869_ref28","doi-asserted-by":"crossref","first-page":"34","DOI":"10.1016\/j.robot.2016.02.003","article-title":"Task allocation and collision-free path planning of centralized multi-robots system for industrial plant inspection using heuristic methods","volume":"80","author":"Jose","year":"2016","journal-title":"Robotics and Autonomous Systems"},{"issue":"4","key":"10.3233\/JIFS-200869_ref29","doi-asserted-by":"crossref","first-page":"989","DOI":"10.1007\/s10514-016-9578-9","article-title":"Decentralized simultaneous multi-target exploration using a connected network of multiple robots","volume":"41","author":"Nestmeyer","year":"2017","journal-title":"Autonomous Robots"},{"issue":"7","key":"10.3233\/JIFS-200869_ref31","doi-asserted-by":"crossref","first-page":"637","DOI":"10.1177\/0037549718785440","article-title":"Distributed path planning of a multi-robot system based on the neighborhood artificial potential field approach","volume":"95","author":"Matoui","year":"2019","journal-title":"SIMULATION"},{"issue":"12","key":"10.3233\/JIFS-200869_ref32","doi-asserted-by":"crossref","first-page":"1406","DOI":"10.1016\/j.robot.2013.07.012","article-title":"An optimal algorithm for two robots path planning problem on the grid","volume":"61","author":"Davoodi","year":"2013","journal-title":"Robotics and Autonomous Systems"},{"key":"10.3233\/JIFS-200869_ref33","unstructured":"Muthiah M. and Saad A. , Multi robot path planning and path coordination using genetic algorithms, In Proceedings of the South East Conference, (2017), pp. 112\u2013119."},{"key":"10.3233\/JIFS-200869_ref34","doi-asserted-by":"crossref","first-page":"62","DOI":"10.1016\/j.neucom.2015.11.007","article-title":"A PSO-based multi-robot cooperation method for target searching in unknown environments","volume":"177","author":"Dadgar","year":"2016","journal-title":"Neurocomputing"},{"issue":"2","key":"10.3233\/JIFS-200869_ref35","first-page":"3","article-title":"Path planning of mobile robot in unknown environment, In","volume":"1","author":"Kumar Das","year":"2010","journal-title":"Proceedings of Special Issue of IJCCT for International Conference"},{"issue":"1","key":"10.3233\/JIFS-200869_ref36","doi-asserted-by":"crossref","first-page":"128","DOI":"10.20965\/jrm.2018.p0128","article-title":"A new intelliSense strategy based on artificial immune system for multi-robot cooperation","volume":"30","author":"Xu","year":"2018","journal-title":"Journal of Robotics and Mechatronics"},{"issue":"3","key":"10.3233\/JIFS-200869_ref37","doi-asserted-by":"crossref","first-page":"545","DOI":"10.1007\/s12555-012-0096-z","article-title":"Autonomous multi-mobile robot system: simulation and implementation using fuzzy logic","volume":"11","author":"Kim","year":"2013","journal-title":"International Journal of Control, Automation and Systems"},{"key":"10.3233\/JIFS-200869_ref38","unstructured":"Sadhu A.K. , Konar A. , Banerjee B. and Nagar A.K. , Multi-robot cooperative planning by consensus Q-learning, In Proceedings of 2017 International Joint Conference on Neural Networks, (2017), pp. 4158\u20134164."},{"issue":"2","key":"10.3233\/JIFS-200869_ref39","doi-asserted-by":"crossref","first-page":"295","DOI":"10.1016\/j.jesit.2015.12.003","article-title":"Multi-robot path planning in a dynamic environment using improved gravitational search algorithm","volume":"3","author":"Das","year":"2016","journal-title":"Journal of Electrical Systems and Information Technology"},{"key":"10.3233\/JIFS-200869_ref40","doi-asserted-by":"crossref","first-page":"106","DOI":"10.1016\/j.eswa.2018.08.008","article-title":"Multi-objective multi-robot path planning in continuous environment using an enhanced genetic algorithm","volume":"115","author":"Nazarahari","year":"2019","journal-title":"Expert Systems with Applications"},{"issue":"2","key":"10.3233\/JIFS-200869_ref41","doi-asserted-by":"crossref","first-page":"171","DOI":"10.1007\/s11370-017-0244-7","article-title":"Multi-robot multi-target dynamic path planning using artificial bee colony and evolutionary programming in unknown environment","volume":"11","author":"Faridi","year":"2018","journal-title":"Intelligent Service Robotics"},{"issue":"1","key":"10.3233\/JIFS-200869_ref42","doi-asserted-by":"crossref","first-page":"147","DOI":"10.1007\/s11370-019-00302-w","article-title":"Contribution to the path planning of a multi-robot system: centralized architecture","volume":"13","author":"Matoui","year":"2020","journal-title":"Intelligent Service Robotics"},{"key":"10.3233\/JIFS-200869_ref43","doi-asserted-by":"crossref","first-page":"174","DOI":"10.1016\/j.ins.2019.04.057","article-title":"Stability and stabilization of TS fuzzy systems with two additive time-varying delays","volume":"494","author":"Zhao","year":"2019","journal-title":"Information Sciences"},{"issue":"2","key":"10.3233\/JIFS-200869_ref44","doi-asserted-by":"crossref","first-page":"1275","DOI":"10.1007\/s00521-017-3069-6","article-title":"Sampling-based online motion planning for mobile robots: utilization of Tabu search and adaptive neuro-fuzzy inference system","volume":"31","author":"Khaksar","year":"2019","journal-title":"Neural Computing and Applications"},{"issue":"2","key":"10.3233\/JIFS-200869_ref45","doi-asserted-by":"crossref","first-page":"918","DOI":"10.5370\/JEET.2017.12.2.918","article-title":"Fuzzy-based path planning for multiple mobile robots in unknown dynamic environment","volume":"12","author":"Zhao","year":"2017","journal-title":"Journal of Electrical Engineering & Technology"},{"key":"10.3233\/JIFS-200869_ref46","doi-asserted-by":"crossref","first-page":"105097","DOI":"10.1016\/j.cnsns.2019.105097","article-title":"Local stability and stabilization of uncertain nonlinear systems with two additive time-varying delays","volume":"83","author":"Zhao","year":"2020","journal-title":"Communications in Nonlinear Science and Numerical Simulation"},{"issue":"2","key":"10.3233\/JIFS-200869_ref47","doi-asserted-by":"crossref","first-page":"1350","DOI":"10.1109\/LRA.2020.2967326","article-title":"Ddm: Fast near-optimal multi-robot path planning using diversified-path and optimal sub-problem solution database heuristics","volume":"5","author":"Han","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"2","key":"10.3233\/JIFS-200869_ref48","first-page":"1","article-title":"A fuzzy inference system applied to value of information assessment for oil and gas industry","volume":"2","author":"Vilela","year":"2019","journal-title":"Decision Making: Applications in Management and Engineering"},{"key":"10.3233\/JIFS-200869_ref49","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2019.2955054"},{"issue":"1","key":"10.3233\/JIFS-200869_ref50","first-page":"35","article-title":"ANFIS model for the prediction of generated electricity of photovoltaic modules","volume":"2","author":"Stoj\u010di\u0107","year":"2019","journal-title":"Decision Making: Applications in Management and Engineering"},{"issue":"2","key":"10.3233\/JIFS-200869_ref51","doi-asserted-by":"crossref","first-page":"951","DOI":"10.1109\/TFUZZ.2017.2699947","article-title":"State feedback control for interval type-2 fuzzy systems with time-varying delay and unreliable communication links","volume":"26","author":"Zhao","year":"2018","journal-title":"IEEE Transactions on Fuzzy Systems"},{"key":"10.3233\/JIFS-200869_ref52","doi-asserted-by":"crossref","first-page":"78","DOI":"10.5220\/0007838700780087","article-title":"A fuzzy inference approach to control robot speed in human-robot shared workspaces","volume":"2","author":"Campomaggiore","year":"2019","journal-title":"Proceedings of 16th International Conference on Informatics in Control, Automation and Robotics"},{"key":"10.3233\/JIFS-200869_ref53","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1016\/j.ins.2019.01.044","article-title":"Finite-time control for interval type-2 fuzzy time-delay systems with norm-bounded uncertainties and limited communication capacity","volume":"483","author":"Zhao","year":"2019","journal-title":"Information Sciences"},{"issue":"2","key":"10.3233\/JIFS-200869_ref54","doi-asserted-by":"crossref","first-page":"275","DOI":"10.1080\/10798587.2009.10643031","article-title":"Double layers fuzzy logic based mobile robot path planning in unknown environment","volume":"15","author":"Fu","year":"2009","journal-title":"Intelligent Automation & Soft Computing"},{"key":"10.3233\/JIFS-200869_ref55","doi-asserted-by":"crossref","first-page":"2537","DOI":"10.1007\/s11071-020-05635-1","article-title":"Dynamic output feedback control for nonlinear networked control systems with a two-terminal event-triggered mechanism","volume":"100","author":"Zhang","year":"2020","journal-title":"Nonlinear Dynamics"}],"container-title":["Journal of Intelligent &amp; Fuzzy Systems"],"original-title":[],"link":[{"URL":"https:\/\/content.iospress.com\/download?id=10.3233\/JIFS-200869","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T09:41:25Z","timestamp":1777455685000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/full\/10.3233\/JIFS-200869"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,11,19]]},"references-count":50,"journal-issue":{"issue":"5"},"URL":"https:\/\/doi.org\/10.3233\/jifs-200869","relation":{},"ISSN":["1064-1246","1875-8967"],"issn-type":[{"value":"1064-1246","type":"print"},{"value":"1875-8967","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,11,19]]}}}