Teaching–Learning-Based Optimization Algorithm for Path Planning and Task Allocation in Multi-robot Plant Inspection System

2021 ◽  
Author(s):  
Arindam Majumder ◽  
Abhishek Majumder ◽  
Rahul Bhaumik
Keyword(s):  
Path Planning ◽  
Optimization Algorithm ◽  
Task Allocation ◽  
Inspection System ◽  
Teaching Learning Based Optimization ◽  
Teaching Learning ◽  
Plant Inspection ◽  
And Task ◽  
Multi Robot

Task Allocation and Path Planning of a Multi-Robot System Using Heuristic Coupled Particle Swarm Optimization Algorithm

2020 ◽  
pp. 194-209
Author(s):  
Arindam Majumder ◽  
Rajib Ghosh
Keyword(s):  
Particle Swarm Optimization ◽  
Path Planning ◽  
Optimization Algorithm ◽  
Task Allocation ◽  
Particle Swarm Optimization Algorithm ◽  
Particle Swarm ◽  
A Algorithm ◽  
Swarm Optimization ◽  
Multiobjective Particle Swarm Optimization ◽  
Multi Robot

This study deals with a plant layout where there were ninety predefined locations which have to be inspected by using three multiple robots in such a way that there would not be any collisions between the robots. A heuristic integrated multiobjective particle swarm optimization algorithm (HPSO) is developed for allocating tasks to each robot and planning of path while moving from one task location to another. For optimal path planning of each robot the research utilized A* algorithm. The task allocation for each robot is carried out using a modified multiobjective particle swarm optimization algorithm where the earliest completion time (ECT) inspired technique is used to make the algorithm applicable in multi robot task allocation problems. At the later stage of this study, in order to test the capability of HPSO an instance is solved by the algorithm and is compared with the existing solutions of a genetic algorithm with the A* algorithm. The computational results showed the superiority of the proposed algorithm over existing algorithms.

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