Multi robot box pushing using VIKOR induced differential evolution algorithm

Abstract

Coordination of multiple agents is an active research area in robotics and automation. The multi-robot box pushing problem studied in this work is a common multi-agent coordination scenario. In the classic two-robot box-pushing problem, two identical robots push a box over a confined workspace with one or more static obstacles so that the task is completed as quickly as possible. A local trajectory must be planned by moving from a predefined starting position to a fixed target position. If possible, it will require time and minimal energy input. In this work, the problem is a multi-objective one with the goal of minimizing a total of four objectives, including (i) total time, (ii) total energy, and (iii) Euclidean distance from the current box position to that box position. It is formulated in an optimization framework target, and (iv) the penalty imposed if the box collides with an obstacle.