A Trust Based Navigation Control for Multi-Robot to Avoid Deadlock in a Static Environment Using Improved Krill Herd

摘要

In recent years, robotics emerged as a leading contender in many applications. Most of the applications employed multiple mobile robot to accomplish parallel tasks efficiently. In most of the multi-robot applications, though robots work in the same environment, but may not have the same objective. In multi-robot navigation, robots may encounter a deadlock situation, where robots faced each other and trying to find the safe path to escape and reach their target. In such situation, it can be advantageous for robots to cooperate and trust each other to finish their assignments quickly. This paper aims to develop a trust based navigation control algorithm that evaluates the trustworthiness of robots based on their service and utilize it to decide the next waypoint of robots to avoid the deadlock. The effectiveness of the proposed method is validated through simulation. The simulation outcome reveals that the proposed method is efficient for navigation planning of multi-robot to avoid the deadlock situation.