An Efficient Global Optimization Approach to Multi Robot Path Exploration Problem Using Hybrid Genetic Algorithm

摘要

This paper presents a novel scheme for global path exploration to multi robots environment using hybrid implementation of evolutionary heuristic. This scheme is used to find an optimal path for each mobile robot to move in a static environment expressed by a weighted graph with nodes and links. The interesting part of this scheme is that the chromosome structure is designed to cluster the landmarks (nodes) in the environment. The rendezvous point for robots to meet at last is selected by using making centroid technique. We used a fixed length chromosome. Each robot has a starting point and a rendezvous point under the assumption that the robot passes each point in the cluster only once. Experimental results are presented to illustrate the performance of the proposed scheme. The scheme was tested on a set of different problems with encouraging results.