Multi-Robot Exploration of Unknown Space Using Combined Meta-Heuristic Salp Swarm Algorithm and Deterministic Coordinated Multi-Robot Exploration

Abstract

Multi-robot exploration means constructing a finite map using a group of robots in an obstacle chaotic space. Uncertainties are reduced by distributing search tasks to robots and computing the best action in real time. Many previous methods are based on deterministic or meta-heuristic algorithms, but limited work has combined both techniques to consolidate both classes’ benefits and alleviate their drawbacks. This paper proposes a new hybrid method based on deterministic coordinated multi-robot exploration (CME) and the meta-heuristic salp swarm algorithm (SSA) to perform the search of a space. The precedence of adjacent cells around a robot is determined by deterministic CME using cost and utility. Then, the optimization process of the search space, improving the overall solution, is achieved utilizing the SSA. Three performance measures are considered to evaluate the performance of the proposed method: run time, percentage of the explored area, and the number of times when a method failed to continue a complete run. Experimental results compared four different methods, CME-GWO, CME-GWOSSA, CME-SCA, and CME, over seven maps with extra complexity varying from simple to complex. The results demonstrate how the proposed CME-SSA can outperform the four other methods. Moreover, the simulation results demonstrate that the proposed CME-SSA effectively distributes the robots over the search space to run successfully and obtain the highest exploration rate in less time.

Bioinspired Perception and Navigation of Service Robots in Indoor Environments: A Review

“…Additionally, Table 2 displays papers about remote sensing navigation, focusing on LiDAR, laser ranger, and infrared sensors. The tasks include exploration [ 63 , 64 , 66 , 71 ], wheelchair [ 78 ], transport [ 65 , 73 , 74 , 75 ], fire services or search and rescue [ 70 ], floor cleaning [ 68 ], tracking [ 76 ], education [ 72 ], and caring and service [ 79 ]. Some approaches are combined with path planning algorithms, including metaheuristic algorithm, potential field, and A* for navigation [ 66 , 68 , 70 , 78 ].…”

“…The tasks include exploration [ 63 , 64 , 66 , 71 ], wheelchair [ 78 ], transport [ 65 , 73 , 74 , 75 ], fire services or search and rescue [ 70 ], floor cleaning [ 68 ], tracking [ 76 ], education [ 72 ], and caring and service [ 79 ]. Some approaches are combined with path planning algorithms, including metaheuristic algorithm, potential field, and A* for navigation [ 66 , 68 , 70 , 78 ]. Online performance only reaches 29.41% in remote sensing perception with models, algorithms, or controllers.…”

“…Romeh and Mirjalili [ 66 ] described a combined metaheuristic salp swarm algorithm for multirobot exploration to reduce uncertainties and search for a space with a laser range scanner. The coordinated multirobot exploration determined adjacent cells with a utility and cost, then optimized the path using the salp swarm algorithm.…”

Feedback Linearization and SelfTuning PD Fuzzy Controller for wheeled mobile robot

“…In the following, the Lagrange formulation is used to obtain the dynamic model of the wheeled mobile robot system subject to the kinematic constraint in the form (7). The Lagrangian ℒ of a mechanical system is defined as the difference between its kinetic and potential energy:…”

“…1 Department of Computer Engineering and Application GLA University, Mathura, Uttar Pradesh-281406, India, tokpsharma@gmail.com 2 Nombres y apellidos: Nestor Cuba Carbajal, Grado académico: Doctor en Gestión Publica y Gobernabilidad, Posición o cargo: Docente, Facultad: Ciencias de la Comunicación, Turismo y Psicología, Departamento Académico: Turismo y Hotelería, Institución: Universidad de San Martin de Porres, City: Lima Country: Perú, Email: ncubac@usmp.pe 3 Rajesh Singh, Department of Electronics & Communication Engineering, Uttaranchal Institute of Technology, Uttaranchal University, Dehradun-248007, India, drrajeshsingh004@gmail.com 4 Degree: Magister Academic position: Teacher ,Academic Department of Basic Sciences, National Amazonian University of Madre de Dios. Faculty of Engineering Puerto Maldonado Peru, Email: ylhromani@gmail.com 5 Degree: Doctor, Academic position: Docente, Departamento Académico de la Facultad de Ciencias Universidad Nacional de Educación Enrique Guzmán y Valle City: Lima Country: Perú, Email: fflores@une.edu.pe 6 Shavan Askar, Erbil polytechnic university , Erbil Technical engineering college, erbil , Iraq, Shavan.askar@epu.edu.iq 7 Ahmed Alawadi, College of technical engineering, the Islamic University, Najaf, Iraq 8 College of technical engineering, Imam Ja'afar Al-Sadiq University, Al-Muthanna 66002, Iraq, alihashimalsalamy78@gmail.com 9 Sajjad Firas Abdulameer ,Scientific Research Center, Al-Ayen University, Thi-Qar, Iraq, Civil Engineering Department,College of Engineering ، University of Kerbala, Karbala, Iraq, sajjad.firas123@gmail.com 10 * Mostafajalalnezhad Responsible, Mechanical Engineering, Kharazmi University of Tehran, Republic of Iran, Std_mostafajalalnezh@khu.ac.ir, mostafajalalneghad@yahoo.com…”