Metaheuristic based navigation of a reconfigurable robot through narrow spaces with shape changing ability
作者：
Highlights：
• Area coverage is a crucial requirement for a floor cleaning robot.
• A novel navigation strategy that considers continuous reconfigurations is proposed.
• Metaheuristic optimization techniques are proposed for the navigation strategy.
• The method enables a reconfigurable robot to navigate through narrow spaces.
• The method facilitates the navigation around obstacles for coverage.
摘要
•Area coverage is a crucial requirement for a floor cleaning robot.•A novel navigation strategy that considers continuous reconfigurations is proposed.•Metaheuristic optimization techniques are proposed for the navigation strategy.•The method enables a reconfigurable robot to navigate through narrow spaces.•The method facilitates the navigation around obstacles for coverage.
论文关键词：Reconfigurable robotics,Grey Wolf Optimizer,Genetic Algorithm,Simulated Annealing,Navigation,Area coverage
论文评审过程：Received 17 August 2021, Revised 14 December 2021, Accepted 28 March 2022, Available online 12 April 2022, Version of Record 21 April 2022.
论文官网地址：https://doi.org/10.1016/j.eswa.2022.117060
