Multi-robot path planning in a dynamic environment using improved gravitational search algorithm

Multi-robot path planning in a dynamic environment using improved gravitational search algorithm

Blog Article

This paper proposes a g5210t-p90 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 click here 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.