Journal
MATHEMATICS
Volume 11, Issue 11, Pages -Publisher
MDPI
DOI: 10.3390/math11112474
Keywords
Hybrid Vulture-Coordinated Multi-Robot Exploration (HVCME); optimization; African Vulture Optimization Algorithm (AVOA); multi-robot exploration; finite map; Coordinated Multi-Robot Exploration (CME); unknown environments; path planning
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This study proposes a novel hybrid optimization method called Hybrid Vulture-Coordinated Multi-Robot Exploration (HVCME), which combines Coordinated Multi-Robot Exploration (CME) and African Vultures Optimization Algorithm (AVOA) to optimize the construction of a finite map in multi-robot exploration. Experimental results show that HVCME outperforms four other similar methods, demonstrating its effectiveness in optimizing the construction of a finite map in an unknown indoor environment.
Exploring unknown environments using multiple robots has numerous applications in various fields but remains a challenging task. This study proposes a novel hybrid optimization method called Hybrid Vulture-Coordinated Multi-Robot Exploration (HVCME), which combines Coordinated Multi-Robot Exploration (CME) and African Vultures Optimization Algorithm (AVOA) to optimize the construction of a finite map in multi-robot exploration. We compared HVCME with four other similar algorithms using three performance measures: run time, percentage of the explored area, and the number of times the method failed to complete a run. The experimental results show that HVCME outperforms the other four methods, demonstrating its effectiveness in optimizing the construction of a finite map in an unknown indoor environment.
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