Study on Trust based Cooperative Navigation Planning in Multi Robot System

Abstract

The untiring endeavour of scientiand#64257;c community has made the robots enable in newlineresolving issues related to the society in many precarious situations. The task newlinesolving aptitude of robots has made them viable in industrial sectors to accom- newlineplish the task as assigned. The robots are placed in the environment comprising newlineof both stationary and moving obstacles. The robot navigates from its predeand#64257;ned newlinestarting positions to the designed goal positions to perform the desired tasks as newlineassigned by the end-user. Safe navigation in addition to attain shortest path is newlineof prime concern in the problem of interest. Signiand#64257;cant eand#64256;ort has been made newlinein the early research work to make robot intelligent via several algorithms to newlineaddress the concern. The proposed algorithms do not substantiate solutions of newlineinterest in case of multi-robot path planning. Furthermore, the inevitability of newlineachieving path smoothness as well as minimizing energy requirement has made newlinethe present problem more complex. Therefore, there is a need of searching some newlinecomputationally stable algorithms that can provide the desired solutions with less newlinecomputational burden. The emerging of meta-heuristic approaches has made pos- newlinesible of solving numerous complex engineering optimization problem because of newlinesome positive attributes such as: 1. Simple; 2. Easy to implement; 3. Robust; newlineand 4. Computationally stable. The need of the present scenario is to and#64257;gure newlineout some meta-heuristic approaches whose architecture resembles the multi robot newlinepath planning problem. The present thesis has and#64257;gured out two meta-heuristic newlineapproaches to get the desired solutions by minimizing the objective function. The newlineproposed approaches are developed to deal with the environment comprising of newlinestationary and moving obstacles.The environment designed with multi-robots newlinecontaining static obstacles is and#64257;rst studied. The objective function is formulated as newlinea weighted sum of cost, smoothness, and safety of the path. The improved version newlineof Krill Herd algorithm (IKH) is then employed to minimize the object