Hybrid Vulture-Coordinated Multi-Robot Exploration: A Novel Algorithm for Optimization of Multi-Robot Exploration
Abstract
:1. Introduction
2. Related Work
2.1. Deterministic Methods
2.2. Metaheuristic Methods
2.3. Hybrid Method
3. Problem Formulation and Proposed Method
3.1. Deterministic CME
3.1.1. Computation of Cost Function
- Initialization
- 2.
- A loop will be executed to update every grid cell’s status at coordinates.
3.1.2. Utility Value
3.2. Metaheuristic African Vultures Optimization Algorithm ()
3.2.1. First Phase
3.2.2. Second Phase
3.2.3. Third Phase
3.2.4. Forth Phase
Algorithm 1 Pseudocode of AVOA |
|
3.3. Hybrid Vulture-Coordinated Multi-Robot Exploration (HVCME)
4. Results and Discussion
4.1. Simple MAP
4.2. Complex Map
4.3. Results, Analysis, and Discussion
4.4. Usage Parameters of the Algorithms
4.5. Analysis Results Summary
4.6. Implementation and Deployment of a Laser-Based Navigation System Using MATLAB and ROS for Turtlebot Robots
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Map No | ||||||||||
---|---|---|---|---|---|---|---|---|---|---|
93.48789747 | 2.394276646 | 88.10766242 | 3.107866611 | 89.8972499 | 3.166780379 | 83.06727879 | 10.47223842 | 87.87226601 | 5.240005 | |
95.39844996 | 2.484151142 | 91.12047224 | 3.520321483 | 91.84252617 | 3.100894958 | 85.69176361 | 7.003067214 | 87.53942155 | 7.241871 |
Map No | CME-MGO | |||||||||
---|---|---|---|---|---|---|---|---|---|---|
92.5615699 | 0.297715034 | 97.39291327 | 0.999453403 | 95.85982903 | 0.181438103 | 97.82159427 | 1.230208498 | 96.77494 | 1.015549 | |
92.79769 | 0.401503478 | 96.47183573 | 1.006076789 | 96.1734938 | 0.290667074 | 98.07270377 | 0.89840887 | 98.46685 | 1.142403 |
Map No | |||||
---|---|---|---|---|---|
0 | 6 | 0 | 6 | 5 | |
0 | 2 | 1 | 9 | 8 |
Complex Map | ||||||||||
---|---|---|---|---|---|---|---|---|---|---|
94.50890454 | 2.382410734 | 89.55102994 | 3.852037282 | 91.25102994 | 3.570840307 | 87.09321198 | 9.052147289 | 86.94423174 | 9.256605 | |
96.01468484 | 1.891439467 | 91.91375336 | 5.585904571 | 92.24708669 | 4.754568025 | 87.76453495 | 10.41421993 | 88.71989181 | 8.220601 | |
95.58057606 | 2.517066142 | 92.02424676 | 4.470404936 | 95.7575801 | 2.9997413 | 86.79440577 | 8.049828891 | 88.56805714 | 7.178603 | |
92.96318879 | 3.251433378 | 86.90087334 | 7.827569791 | 87.06754001 | 8.015598253 | 79.43808633 | 16.91861299 | 78.67348931 | 16.90669 | |
94.35310345 | 3.08846343 | 83.1999704 | 8.679611475 | 84.3999704 | 9.22311462 | 64.94504341 | 16.38479256 | 71.85112614 | 16.75737 |
Complex Map | ||||||||||
---|---|---|---|---|---|---|---|---|---|---|
92.79204967 | 0.275904459 | 97.261465 | 0.582357351 | 96.43628347 | 0.348885944 | 97.7564766 | 1.075883657 | 98.55007553 | 1.041942 | |
93.2828055 | 0.15315418 | 97.35219077 | 1.01303978 | 96.50676813 | 0.256538034 | 99.6986837 | 1.182198858 | 99.04586097 | 1.836164 | |
93.25613333 | 0.202724196 | 97.50659197 | 2.052379901 | 96.6835376 | 0.508972425 | 100.4113115 | 1.464349696 | 100.3491859 | 1.526962 | |
93.25031283 | 0.226763813 | 97.3608672 | 1.238485844 | 96.9642087 | 0.576151537 | 100.9094861 | 1.247809351 | 100.1620379 | 1.581998 | |
92.9428172 | 0.275405003 | 97.1399253 | 0.752556205 | 96.96096007 | 0.580188703 | 100.5302785 | 1.258368772 | 100.6206503 | 1.675212 |
Complex Map | |||||
---|---|---|---|---|---|
0 | 55 | 0 | 48 | 74 | |
0 | 5 | 0 | 15 | 88 | |
2 | 18 | 2 | 13 | 28 | |
1 | 101 | 5 | 133 | 54 | |
3 | 99 | 4 | 417 | 103 |
N/A | 0.001257099 | 0.085 | 0.0015 | 0.0184 | ||
N/A | 2.69 × 10−6 | 2.77 × 10−5 | 1.31 × 10−8 | 1.85 × 10−8 | ||
N/A | 0.000396843 | 1.62 × 10−4 | 5.27 × 10−5 | 3.37 × 10−5 | ||
N/A | 7.09 × 10−8 | 4.61 × 10−7 | 0.0012 | 2.57 × 10−7 | ||
0.017 | 1.78 × 10−4 | N/A | 7.74 × 10−6 | 3.32 × 10−6 | ||
N/A | 1.89 × 10−4 | 0.001 | 0.008 | 9.79 × 10−5 | ||
N/A | 1.69 × 10−9 | 9.01 × 10−7 | 3.50 × 10−9 | 8.35 × 10−8 |
N/A | 3.02 × 10−11 | 3.02 × 10−11 | 3.16 × 10−10 | 2.92 × 10−11 | ||
N/A | 2.62 × 10−11 | 2.22 × 10−11 | 2.87 × 10−10 | 3.02 × 10−11 | ||
N/A | 3.12 × 10−11 | 3.62 × 10−11 | 3.02 × 10−11 | 3.69 × 10−11 | ||
N/A | 4.02 × 10−11 | 3.52 × 10−11 | 5.57 × 10−10 | 3.02 × 10−11 | ||
N/A | 3.32 × 10−11 | 2.92 × 10−11 | 5.57 × 10−10 | 5.57 × 10−10 | ||
N/A | 2.72 × 10−11 | 3.99 × 10−11 | 3.34 × 10−11 | 3.51 × 10−11 | ||
N/A | 3.42 × 10−11 | 3.86 × 10−11 | 3.69 × 10−11 | 3.82 × 10−10 |
Algorithms | Parameter and Value |
---|---|
General Parameters | Map dimensions: 50 m × 50 m Sensor ray length: 1.5 m Number of robots: 3 Number of iterations: 500 Number of runs: 30 |
HVCME (AVOA-based) | Population size: 8 α β γ parameters: [0, 1] Lévy flight step size (λ): 1 P1 probability: [0, 1] P2 probability: [0, 1] P3 probability: [0, 1] |
CME-GWO | Population size: 8 α, β, and δ wolves a parameter [0–2] |
CME-SSA | Population size: 8 C1 coefficient: [0, 1] C2 coefficient: [0, 1] |
CME-SCA | Population size: 8 a parameter: [2, 0] r1 and r2 random numbers: [0, 1] A, B, C, and D updating strategies |
CME-MGO | random 1 or 2 6 random numbers r: [0, 1] |
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Romeh, A.E.; Mirjalili, S.; Gul, F. Hybrid Vulture-Coordinated Multi-Robot Exploration: A Novel Algorithm for Optimization of Multi-Robot Exploration. Mathematics 2023, 11, 2474. https://doi.org/10.3390/math11112474
Romeh AE, Mirjalili S, Gul F. Hybrid Vulture-Coordinated Multi-Robot Exploration: A Novel Algorithm for Optimization of Multi-Robot Exploration. Mathematics. 2023; 11(11):2474. https://doi.org/10.3390/math11112474
Chicago/Turabian StyleRomeh, Ali El, Seyedali Mirjalili, and Faiza Gul. 2023. "Hybrid Vulture-Coordinated Multi-Robot Exploration: A Novel Algorithm for Optimization of Multi-Robot Exploration" Mathematics 11, no. 11: 2474. https://doi.org/10.3390/math11112474