Coordinated Multi-Robot Exploration and Slime Mould Algorithm for Multi-Robot Space Exploration

摘要

In multi-robot space, conducting research is the critical task to perform flexible without presence of humans the multi-robots are used like landers and rovers for exploring the area which is unknown environment. The multi-robots face problems in exploring the area due improper planning and communication between the robots in specified paths. To solve the problem, Coordinated Multi-robot space Exploration Slime Mould Algorithm (CME-SMA) is proposed here. This integration includes a parallel communication protocol to enhance exploration efficiency and reduce computational complexity. The algorithm focuses on generating optimal collision-free paths in barrier-filled environments by first evaluating neighboring cells using deterministic CME for cost and utility values. SMA is then applied to refine the solutions further. The CME-SMA algorithm is validated through numerous simulations under various environmental conditions, demonstrating consistency in achieving expected outcomes such as exploration rate and time efficiency. The CME-SMA method explored the area is 98.79% with 0 failed run and execution time is 37.15 sec in map 1when compared with existing methods.