Obstacle-Aware Path Planning in Multi-Robot Systems Using Adaptive Spider Wasp Optimization

Authors

  • Sakthitharan Subramanian Department of Computational Intelligence, SRM Institute of Science and Technology, Kattankulathur Campus, Chennai, India
  • B. Renuka Devi Department of Information Technology, Sri Sairam Engineering College, Chennai, Tamil Nadu, India
  • F. Sangeetha Francelin Vinnarasi Professor, Department of Information Technology, St. Joseph’s Institute of Technology, OMR, Chennai – 600119, Tamil Nadu, India
  • Velliangiri Sarveshwaran Department of Computational Intelligence, SRM Institute of Science and Technology, Kattankulathur Campus, Chennai, India

DOI:

https://doi.org/10.13052/jmm1550-4646.2161

Keywords:

Path planning, mobile multi-robots, obstacle avoidance (AD), adaptive concept (AC), spider wasp optimizer (SWO)

Abstract

Path planning generates a shorter path from source to destination based on sensor information acquired from an environment. An obstacle avoidance is an important task in robotics within path planning since the automatic functioning of robots requires reaching the destination without collisions. Moreover, obstacle avoidance algorithms have an important part in robotics. The existing algorithms did not enable robots to navigate their environments effectively, lessening the threat of collisions and preventing obstacles. Here, an Adaptive Spider Wasp Optimizer (ASWO) is introduced for path planning in mobile multi-robots. Initially, the simulation of an environment utilizing multiple robots and targets along with obstacles is accomplished. Thereafter, multi-objectives namely path smoothness, obstacle avoidance, and path length are considered. Lastly, path planning is conducted employing ASWO by considering fitness parameters such as path smoothness, obstacle avoidance, and path length. However, ASWO is designed by integrating adaptive concept with Spider Wasp Optimizer (SWO). In addition, ASWO achieved maximal value of fitness and path smoothness about 1.795 and 91.121% as well as minimal value of path length about 897.883 km.

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Author Biographies

Sakthitharan Subramanian, Department of Computational Intelligence, SRM Institute of Science and Technology, Kattankulathur Campus, Chennai, India

Sakthitharan Subramanian is an accomplished academic and researcher in computational intelligence. He currently serves as an Assistant Professor in the Department of Computational Intelligence at the School of Computing, SRMIST, India. With a diverse range of expertise, Dr. Sakthitharan specializes in areas such as Algorithms, Web Technologies, Artificial Intelligence, and Mobile Applications. His research interests primarily focus on cutting-edge topics including Robotics Maneuvering, Mobile Sensors, Positioning systems, Navigation Systems, and Disaster Response. It also extends to other important areas such as Human-Computer Interaction, Automation, Blockchain and Machine Learning. As an educator and researcher, Dr. Sakthitharan is actively involved in various academic activities, including guiding interdisciplinary projects and contributing to funded research and consultancy initiatives. His professional expertise is further demonstrated through his involvement in numerous professional projects.

B. Renuka Devi, Department of Information Technology, Sri Sairam Engineering College, Chennai, Tamil Nadu, India

B. Renuka Devi (Senior Member, IEEE) received graduation in Computer Science and Engineering from Anna University, Chennai and master’s degree in Software Engineering from Anna University, Chennai and currently pursuing Phd in Department of Computational Intelligence, SRM Institute of Science and Technology, Katttakulathur. Her research interests include Secure Wireless Communication in UAV Networks. She is a lifetime member of Indian Society for Technical Education.

F. Sangeetha Francelin Vinnarasi, Professor, Department of Information Technology, St. Joseph’s Institute of Technology, OMR, Chennai – 600119, Tamil Nadu, India

F. Sangeetha Francelin Vinnarasi, received her, M.Tech degree in Computer Science and Engineering from S.R.M Institute of Science and Technology, Kattankulathur, Chennai and PhD in Manonmaniam Sundaranar University, Tirunelveli. She is currently working as a Professor in the Department of Information Technology, St.Joseph’s Institute of Technology, Chennai. She has more than 15 years teaching experience. Her area of interest includes Vehicular Adhoc Networks, Wireless Networks, Image processing and IoT.

Velliangiri Sarveshwaran, Department of Computational Intelligence, SRM Institute of Science and Technology, Kattankulathur Campus, Chennai, India

Velliangiri Sarveshwaran earned his Bachelor’s degree in Computer Science and Engineering from Anna University, Chennai, and completed his Master’s in Computer Science and Engineering at Karpagam University, Coimbatore, followed by a Doctor of Philosophy in Information and Communication Engineering from Anna University, Chennai. He completed his Post-Doctoral Research Fellowship in the Department of Computer Science and Information Engineering at National Chung Cheng University, Chiayi, Taiwan, and is currently serving as a Research Associate Professor at the SRM Institute of Science and Technology (SRMIST), India. He is a senior member of both the Institute of Electrical and Electronics Engineers (IEEE) and the International Association of Engineers (IAENG). Dr. Velliangiri actively reviews for IEEE Transactions, Elsevier, Springer, Inderscience, and other reputable Scopus-indexed journals, with expertise in Blockchain, Security and Privacy, and Optimization techniques. With over 50 publications in SCI Indexed journals and more than 30 presentations at international conferences, he also contributes as a technical program committee member and conference chair at numerous international events. Furthermore, Dr. Sarveshwaran has edited and authored books published by esteemed publishers such as Elsevier, Springer, River, and CRC Press Publishers. He serves as the series editor of “Artificial Intelligence for Sustainability” at CRC Press, Taylor and Francis Group, and holds editorial positions including Area Editor at the EAI Endorsed Journal of Energy (Scopus) and Academic Editor at the Journal of Wireless Communication and Mobile Computing (Scopus, SCI) with Hindawi Publishers. His significant contributions to the field were recognized by Stanford University in 2022,2023, where he was ranked among the Top 2% of Scientists globally in the field of Artificial Intelligence & Image Processing, Information & Communication Technology based on his research publications.

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Published

2025-12-19

How to Cite

Subramanian, S. ., Devi, B. R. ., Vinnarasi, F. S. F. ., & Sarveshwaran, V. . (2025). Obstacle-Aware Path Planning in Multi-Robot Systems Using Adaptive Spider Wasp Optimization. Journal of Mobile Multimedia, 21(06), 997–1022. https://doi.org/10.13052/jmm1550-4646.2161

Issue

2025: Vol 21 Iss 6

Section

Articles