Cooperation of multi-robots for obstacle avoidance in clutter environment using differential evolutionary algorithm

摘要

This paper deliberates an optimal navigation path for multiple mobile robots using the differential evolution (DE) algorithm. The algorithm determines the next position of every robots by considering the goal position and nearest obstacles coordinates. DE algorithm uses different popular vectors for balancing the exploration and exploitations to provide a nearly optimal solution. To get an optimized path from starting position of the robot to a target position, a sequence of the intermediate positions are taken into consideration through the algorithm. In each position, the robot predicts the position of obstacles before determining the next position. The simulation result unveils that, the proposed algorithm generates a safe, optimised and smooth path in an unknown environment.