Soft Computing

, Volume 21, Issue 24, pp 7351–7362 | Cite as

FL-MTSP: a fuzzy logic approach to solve the multi-objective multiple traveling salesman problem for multi-robot systems

  • Sahar TriguiEmail author
  • Omar Cheikhrouhou
  • Anis Koubaa
  • Uthman Baroudi
  • Habib Youssef
Methodologies and Application


This paper considers the problem of assigning target locations to be visited by mobile robots. We formulate the problem as a multiple-depot multiple traveling salesman problem (MD-MTSP), an NP-Hard problem instance of the MTSP. In contrast to most previous works, we seek to optimize multiple performance criteria, namely the maximum traveled distance and the total traveled distance, simultaneously. To address this problem, we propose, FL-MTSP, a new fuzzy logic approach that combines both metrics into a single fuzzy metric, reducing the problem to a single-objective optimization problem. Extensive simulations show that the proposed fuzzy logic approach outperforms an existing centralized Genetic Algorithm (MDMTSP_GA) in terms of providing a good trade-off of the two performance metrics of interest. In addition, the execution time of FL-MTSP was shown to be always faster than that of the MDMTSP_GA approach, with a ratio of 89 %.


MD-MTSP Fuzzy logic Optimization problem Multi-objective 



The authors would like to acknowledge the support provided by the National Plan for Science, Technology and Innovation (MAARIFAH)—King Abdulaziz City for Science and Technology through the Science and Technology Unit at King Fahd University of Petroleum and Minerals (KFUPM), the Kingdom of Saudi Arabia, award Project No. 11-LE2147-4.

Compliance with ethical standards

Conflict of interest

The authors have no competing financial interest to disclose.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  • Sahar Trigui
    • 1
    • 2
    Email author
  • Omar Cheikhrouhou
    • 3
    • 4
  • Anis Koubaa
    • 5
    • 6
  • Uthman Baroudi
    • 7
  • Habib Youssef
    • 8
  1. 1.University of ManoubaManoubaTunisia
  2. 2.Cooperative Intelligent Networked Systems (COINS) Research GroupRiyadhSaudi Arabia
  3. 3.Taif UniversityTaifKingdom of Saudi Arabia
  4. 4.Computer and Embedded Systems LaboratoryUniversity of SfaxSfaxTunisia
  5. 5.Prince Sultan UniversityRiyadhSaudi Arabia
  6. 6.CISTER/INESC-TEC, ISEPPolytechnic Institute of PortoPortoPortugal
  7. 7.Wireless Sensors and Robotics Laboratory, Computer EngineeringKing Fahd University of Petroleum and MineralsDhahranSaudi Arabia
  8. 8.PRINCE Research UnitUniversity of SousseSousseTunisia

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