“…Thus far, the following methods have been used for designing a guidance system for a mobile robot in the area of concentrated traffic: deterministic methods of static optimization (e.g., linear programming), heuristic methods of static optimization (e.g., ant colony, described by Lazarowska [13]), dynamic optimization methods (e.g., dynamic programming, presented by Lisowski [14]), and methods of artificial intelligence (e.g., neural networks, fuzzy sets, and genetic algorithms, shown by Ahn et al [15], Stateczny [16], Szlapczynski and Szlapczynska [17], and Rodriguez-Abreo et al [18]).…”