Multi-agent Robotics System with Whale Optimizer As a Multi-Objective Problem.

A multi-objective optimization method for exploring uncharted space is presented in the study. Robotics exploration personnel create a map of the immediate area using sensor data. It has been observed that a single optimization technique is typically used with a specific objective function to carry out the optimization for space exploration. The optimization process can be sped up and simplified using a mono-objective function, but the map accuracy and exploration depth suffer. This work offers an optimization technique with improved multi-objective functions in recognition of this crucial factor. This not only speeds up the search procedure but also improves the precision of the maps. The Reconfigured Whale Algorithm (rWO), the suggested framework, is based on a Whale Optimizer inspired by whales’ biological behavior. Initializing the whale population, also known as waypoints, is the first step. After being established in the initial stage/iterations, these waypoints are considered constant. The location update from the robot-catered non-dominated waypoints is the next phase. The algorithm optimizes the waypoints. Extensive simulations that simulate various scenarios and environments are used to assess the performance matrices properly. Following the identification of the algorithm’s advantages, the effectiveness of the outcomes is demonstrated by contrasting its performance with that of three popular optimization algorithms: the hybrid CME-Whale Optimizer (WO), the Coordinated Multi-Robot Exploration (CME), and the Arithmetic Optimizer (AO) integrated with CME. Findings show that the suggested approach significantly improves the optimization process by expanding the area that is investigated and speeding up the search process.