Improved Communication Strategy Based on Optimization Algorithm for Unmanned Multi-Robot Open Area Exploration
Kiran Jot Singh1, Divneet Singh Kapoor2, Balwinder Singh Sohi3, Nittin Mittal4

1Kiran Jot Singh, ECE, Chandigarh University, Mohali, India.
2Divneet Singh Kapoor, ECE, Chandigarh University, Mohali, India.
3Balwinder Singh Sohi, ECE, Chandigarh University, Mohali, India.
4Nitin Mittal, ECE, Chandigarh University, Mohali, India.

Manuscript received on 02 June 2019 | Revised Manuscript received on 10 June 2019 | Manuscript published on 30 June 2019 | PP: 1167-1177 | Volume-8 Issue-8, June 2019 | Retrieval Number: H6610068819/19©BEIESP
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Abstract: This correspondence presents a communication strategy for multi-robot systems (MRS) deployed for open area exploration and map making, which is improved using optimization algorithm. One of the noteworthy application of MRS is exploration of unknown environment. The crucial problem of MRS is reliable exchange of data between different robots and efficient communication with data collection centre. However in the real world, mobile robots have limited communication range and energy, which in turn impose constraints in the design of communication strategy for effective coordination. The biggest challenge in this domain is to formulate an appropriate exploration and communication framework, which helps robots in achieving their goal of exploring maximum area with minimum energy loss and transmitting the full exploration data, while working as a team. Here, a framework for multi-robot communication is proposed, using Flower Pollination Algorithm for efficient transmission and routing of data to base station, which is utilized by simultaneous localization and mapping (SLAM) protocol for exploration and map making. Comparisons of proposed protocol are made with other clustering-based routing algorithms available in the literature. Simulation results depict that the proposed strategy outperforms other communication techniques in terms of energy efficiency and network lifetime. The minimized energy usage helps robots to stay alive for more time, which in turn helps in exploring large areas with similar conditions.
Keyword: Micro-Grid (MG) Distributed-Generation, Proportional integral (PI), Slide Mode Controller (SMC).
Scope of the Article: Foundations of Communication Networks.