CBDF Based Cooperative Multi Robot Target Searching and Tracking Using BA

  • Sanjeev Sharma
  • Chiranjib Sur
  • Anupam Shukla
  • Ritu Tiwari
Conference paper
Part of the Smart Innovation, Systems and Technologies book series (SIST, volume 33)


Path planning is a problem where the objective to reach up to target from source without collide with obstacle This problem would be complex when it is considered with multi robot and unknown environment. Reaching up to the target is considered as an optimization problem where the objective to minimize the distance, time and energy. This paper use the Bat algorithm (BA) for the movement of robot form one location to next location with optimizes the time, distance and energy. Here the direction of the movement is given by clustering based distribution factors (CBDF) that guide the robot to move in different direction. Different parameters are calculated during the moving of robots that help to analyze the process of target searching and tracking. Simulation is done with both simple and complex environment and results shows that the method works in both cases in searching and tracking.


Multi robot path planning Target tracking and searching Bat algorithm 


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Copyright information

© Springer India 2015

Authors and Affiliations

  • Sanjeev Sharma
    • 1
  • Chiranjib Sur
    • 1
  • Anupam Shukla
    • 1
  • Ritu Tiwari
    • 1
  1. 1.ABV- Indian Institute of Information Technolgy and ManagementGwaliorIndia

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