Multi Robot Space Exploration : A Modified Frequency Whale Optimization Approach

摘要

View Video Presentation: https://doi.org/10.2514/6.2022-1416.vid Multi-robots configuration provides an effective means for space exploration in an obstacle cluttered environment. Recent progression in research involves a significant work in the field of robotics path planning. Advanced algorithms compute these trajectories utilizing two or more techniques. One such approach involves integration of deterministic Coordinated Multi-robot Exploration and meta-heuristic Whale Optimizer, collectively referred as stochastic method/exploration. This research presents an improved version of stochastic exploration namely Frequency Modified Hybrid Whale Optimization Algorithm (FMH-WOA), in which instead of using conventional whale algorithm, the stochastic parameters are dynamically tuned utilizing a frequency parameter. The frequency is adjusted to tune and optimize both the Exploitation and Exploration operators. Deterministic method derives the cost and utility determines the precedence of grid cell around robot. Stochastic optimizer then helps in improving the overall solution. The effectivity of the proposed FMH-WOA is validated under different environmental conditions. The results are then compared with conventional whale optimizer to demonstrate the improvements achieved in terms of enhanced area coverage in considerably less exploration time.