P.K. Das’s research while affiliated with Department Of Electronics And Information Technology, India and other places

The highlight of this paper is to propose an innovative approach to compute an optimal collision free trajectory path for each robot in a known and complex environment. The problem under consideration has been solved by employing an improved version of particle swarm optimization (IPSO) with evolutionary operators (EOPs). In the present context, PSO is improved with the concept of governance in human society and two evolutionary operators such as multi-crossover inherited from the genetic algorithm, and bee colony operator to enhance the intensification capability of the IPSO algorithm. The algorithm proposed to compute the deadlock free subsequent coordinate of an individual robot from their present coordinate, in addition, to minimize the path length for each robot by maintaining a good balance between intensification and diversification. Results obtained from the proposed IPSO-EOPs have been compared with competitors such as DE and IPSO in a similar environment to substantiate the robustness and usefulness of the algorithm. It perceives from the result obtained from simulation and experimentation that IPSO-EOPs is succeeding IPSO, and DE in terms of arrival time, generating a safe optimal path, and energy utilization during the travel.

A mobile robot is an autonomous agent, capable of planning the path from source to destination in both, a known, or an unknown environment. In this paper, we presented a novel approach to find the optimal trajectory. We have hybridized oppositional-based learning (OBL) with the evolutionary invasive weed optimization (IWO) technique to generate the optimal path for different robot(s). The navigation algorithm considered in this work is intelligent enough to fulfill the objective of minimizing the path length and the time to reach its specified goal. Oppositional IWO (OIWO) algorithm mimics the colonizing behavior of weed and uses the concept of quasi-opposite number, the concept of OBL is to find the shortest path between source and destination of mobile robot(s). An objective function has been formulated that takes care of the optimal target-seeking behavior as well as the obstacle avoidance of the mobile robot. In this technique, OBL considers the current population generated by IWO algorithm and its opposite population simultaneously to get better and faster convergence. The simulation and experimental results prove and validate the effectiveness of developed OIWO path planning algorithm.

This paper proposes a new methodology to optimize trajectory of the path for multi-robots using Improved Gravitational Search Algorithm (IGSA) in a dynamic environment. GSA is improved based on memory information,social, cognitive factor of PSO(Particle swarm optimization) and then,population for next generation is decided by the greedy strategy. A path planning scheme has been developed using IGSA to optimally obtain the succeeding positions of the robots from the existing position. Finally, the analytical and experimental results of the multi-robot path planning have been compared with those obtained by IGSA, GSA and PSO in a similar environment. The simulation and the Khepera environmental results outperform IGSA as compared to GSA and PSO with respect to performance matrix.

This paper proposes a new methodology to optimize trajectory of the path for multi-robots using improved gravitational search algorithm (IGSA) in clutter environment. Classical GSA has been improved in this paper based on the communication and memory characteristics of particle swarm optimization (PSO). IGSA technique is incorporated into the multi-robot system in a dynamic framework, which will provide robust performance, self-deterministic cooperation, and coping with an inhospitable environment. The robots in the team make independent decisions, coordinate, and cooperate with each other to accomplish a common goal using the developed IGSA. A path planning scheme has been developed using IGSA to optimally obtain the succeeding positions of the robots from the existing position in the proposed environment. Finally, the analytical and experimental results of the multi-robot path planning were compared with those obtained by IGSA, GSA and differential evolution (DE) in a similar environment. The simulation and the Khepera environment result show outperforms of IGSA as compared to GSA and DE with respect to the average total trajectory path deviation, average uncovered trajectory target distance and energy optimization in terms of rotation.

This paper proposed a novel approach to determine the optimal trajectory of the path for multi-robots in a clutter environment using hybridization of improved particle swarm optimization (IPSO) with differentially perturbed velocity (DV) algorithm. The objective of the algorithm is to minimize the maximum path length that corresponds to minimize the arrival time of all the robots to their respective destination in the environment. The robots on the team make independent decisions, coordinate, and cooperate with each other to determine the next positions from their current position in the world map using proposed hybrid IPSO-DV. The proposed scheme adjusts the velocity of the robots by incorporating a vector differential operator inherited from Differential Evolution (DE) in IPSO. Finally the analytical and experimental results of the multi-robot path planning have been compared to those obtained by IPSO-DV, IPSO, DE in a similar environment. Simulation and khepera environment results are compared with those obtained by IPSO-DV to ensure the integrity of the algorithm. The results obtained from Simulation as well as Khepera environment reveal that, the proposed IPSO-DV performs better than IPSO and DE with respect to optimal trajectory path length and arrival time.

This paper proposes a new methodology to optimize trajectory of the path for multi-robots using Improved particle swarm optimization Algorithm (IPSO) in clutter Environment. IPSO technique is incorporated into the multi-robot system in a dynamic framework, which will provide robust performance, self-deterministic cooperation, and coping with an inhospitable environment. The robots on the team make independent decisions, coordinate, and cooperate with each other to accomplish a common goal using the developed IPSO. A path planning scheme has been developed using IPSO to optimally obtain the succeeding positions of the robots from the existing position in the proposed environment. Finally, the analytical and experimental result of the multi-robot path planning were compared with those obtained by IPSO, PSO and DE (Differential Evolution) in a similar environment. The simulation and the Khepera environment result show outperforms of IPSO as compared to PSO and DE with respect to the average total trajectory path deviation and average uncovered trajectory target distance.

This paper proposed a new methodology to determine the optimal trajectory of the path for multi-robot in a clutter environment using hybridization of improved particle swarm optimization (IPSO) with an improved gravitational search algorithm (IGSA). The proposed approach embedded the social essence of IPSO with motion mechanism of IGSA. The proposed hybridization IPSO–IGSA maintain the efficient balance between exploration and exploitation because of adopting co-evolutionary techniques to update the IGSA acceleration and particle positions with IPSO velocity simultaneously. The objective of the algorithm is to minimize the maximum path length that corresponds to minimize the arrival time of all robots to their respective destination in the environment. The robot on the team make independent decisions, coordinate, and cooperate with each other to determine the next positions from their current position in the world map using proposed hybrid IPSO–IGSA. Finally the analytical and experimental results of the multi-robot path planning were compared to those obtained by IPSO–IGSA, IPSO, IGSA in a similar environment. The Simulation and the Khepera environment result show outperforms of IPSO–IGSA as compared with IPSO and IGSA with respect to optimize the path length from predefine initial position to designation position ,energy optimization in the terms of number of turn and arrival time.

Classical Q-learning takes huge computation to calculate the Q-value for all possible actions in a particular state and takes large space to store its Q-value for all actions, as a result of which its convergence rate is slow. This paper proposed a new methodology to determine the optimize trajectory of the path for multi-robots in clutter environment using hybridization of improving classical Q-learning based on four fundamental principles with improved particle swarm optimization (IPSO) by modifying parameters and differentially perturbed velocity (DV) algorithm for improving the convergence. The algorithms are used to minimize path length and arrival time of all the robots to their respective destination in the environment and reducing the turning angle of each robot to reduce the energy consumption of each robot. In this proposed scheme, the improve classical Q-learning stores the Q-value of the best action of the state and thus save the storage space, which is used to decide the Pbest and gbest of the improved PSO in each iteration, and the velocity of the IPSO is adjusted by the vector differential operator inherited from differential evolution (DE). The validation of the algorithm is studied in simulated and Khepera-II robot.