{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,2]],"date-time":"2026-07-02T18:08:18Z","timestamp":1783015698152,"version":"3.54.6"},"reference-count":40,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2025,4,17]],"date-time":"2025-04-17T00:00:00Z","timestamp":1744848000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Sichuan Provincial Science and Technology Plan Project","award":["2022NZZJ0036"],"award-info":[{"award-number":["2022NZZJ0036"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>This study addresses the dual challenges of complex road environments and diverse task-safety requirements in mobile-robot path planning by proposing an innovative method that integrates a dual-layer fuzzy control system with an improved genetic algorithm. Initially, an expert system-based dual-layer fuzzy control system is developed. The first layer translates complex road conditions and obstacles into road-safety levels, while the second layer combines these with task-safety levels to generate fitness weights for the genetic algorithm. Furthermore, road-safety factors are incorporated into the genetic algorithm\u2019s fitness function to enhance safety considerations in path planning. The algorithm implementation incorporates Bernoulli chaotic mapping, Gaussian operators, and Symmetrical Sigmoid operators to optimize the selection, crossover, and mutation processes, significantly boosting the algorithm\u2019s global search capability and efficiency. Experimental results indicate that the proposed method reduces path distance by up to 5.9% and decreases the number of turns by up to 85.7%, demonstrating superior universality and robustness across various comparative experiments. This research contributes to resolving the issues posed by complex road environments and varying task-safety requirements in mobile-robot path planning.<\/jats:p>","DOI":"10.3390\/sym17040609","type":"journal-article","created":{"date-parts":[[2025,4,17]],"date-time":"2025-04-17T20:50:46Z","timestamp":1744923046000},"page":"609","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Path Planning of Mobile Robot Based on Dual-Layer Fuzzy Control and Improved Genetic Algorithm"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-0735-9435","authenticated-orcid":false,"given":"Yangxin","family":"Teng","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Xihua University, Chengdu 610039, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-6855-0060","authenticated-orcid":false,"given":"Tingping","family":"Feng","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Xihua University, Chengdu 610039, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-3233-4498","authenticated-orcid":false,"given":"Changlin","family":"Song","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Xihua University, Chengdu 610039, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6157-7159","authenticated-orcid":false,"given":"Junmin","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Xihua University, Chengdu 610039, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6888-7993","authenticated-orcid":false,"given":"Simon X.","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Engineering, University of Guelph, 50 Stone Road East, Guelph, ON N1G2W1, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-0065-4471","authenticated-orcid":false,"given":"Hongjun","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Economics and Management, Chengdu Textile College, Chengdu 611731, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,4,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1728","DOI":"10.1109\/TRO.2022.3231360","article-title":"Soft Robots Modeling: A Structured Overview","volume":"39","author":"Armanini","year":"2023","journal-title":"IEEE Trans. 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