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

Ali El Romeh, Seyedali Mirjalili

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)

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.

Original languageEnglish
Article number2156
JournalSensors
Volume23
Issue number4
DOIs
Publication statusPublished - Feb 2023

Keywords

  • algorithm
  • coordinated multi-robot exploration
  • optimization
  • robot path planning
  • salp swarm algorithm

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