A modified cuckoo search algorithm implemented with SCA and PSO for multi-robot cooperation and path planning

Abstract

The paper puts forward an intelligent approach that deals with the computation of an optimal path with collision avoidance for the stick-carrying twin moving from a pre-assumed start position to a predefined goal position. It has been solved through the efficient implementation of modified cuckoo search, sine cosine algorithm, and particle swarm optimization to design a hybrid algorithm aimed at using the communal advantages of the search and position update ability of these algorithms. The benefits are realized by integrating the egg-laying behavior of the cuckoo species to achieve an efficient global search strategy with modified parameters, local search strategy of particle swarm optimization, and greedy approach of sine cosine algorithm. The proposed algorithm is validated using 10 standard benchmark functions, computer simulation using C language, and real robot platform using Epuck robot to illustrate minimal time, shortest distance, collision avoidance, path smoothness, synchronized action, and reduced energy usage in terms of the path traveled, execution time, the number of steps, and the number of turns in the static as well as the dynamic environment.