{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,15]],"date-time":"2025-05-15T13:40:04Z","timestamp":1747316404660,"version":"3.40.5"},"reference-count":38,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2024,9,5]],"date-time":"2024-09-05T00:00:00Z","timestamp":1725494400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Field Robotics"],"published-print":{"date-parts":[[2025,6]]},"abstract":"<jats:title>ABSTRACT<\/jats:title><jats:p>In robotics, navigating a humanoid robot through a cluttered environment is challenging. The present study aims to enhance the footstep and determine optimal paths regarding the robot's route length. The objective function for navigation of multiple humanoid robots is presented to optimize the route length and travel time. A hybrid technique using a probabilistic roadmap (PRM) and firefly algorithm (FA) is presented for humanoid robot navigation in a cluttered environment with static and dynamic obstacles. Sensory information, such as barrier range in the left, right, and front directions, is fed into the PRM framework that allows the humanoid robot to walk steadily with an initial steering angle. It finds the shortest path using the Bellman\u2013Ford algorithm. The FA technique is used for efficient guidance and footstep modification in a cluttered environment to find a smooth and optimized path. To avoid static obstacles, the suggested hybrid technique provides optimum steering angles and ensures the minimum route length by taking the output of PRM as its input. A 3D simulator and a real\u2010world environment have been used for simulation and experiment in a cluttered environment utilizing the developed model and standalone methods. The humanoid robot achieves the target in all scenarios, but the FA\u2010tuned PRM technique is advantageous to this purpose, as shown by the convergence curve, route length, and travel duration. Multiple humanoid robot navigation has an additional self\u2010collision issue, which is eliminated by employing a dining philosopher controller as the base technique. In addition, the proposed controller is evaluated in contrast to the existing technique. The developed strategy ensures effectiveness and efficacy depending on these findings.<\/jats:p>","DOI":"10.1002\/rob.22428","type":"journal-article","created":{"date-parts":[[2024,9,5]],"date-time":"2024-09-05T15:44:33Z","timestamp":1725551073000},"page":"952-969","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Multi\u2010Objective Route Outlining and Collision Avoidance of Multiple Humanoid Robots in a Cluttered Environment"],"prefix":"10.1002","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8805-0640","authenticated-orcid":false,"given":"Abhishek Kumar","family":"Kashyap","sequence":"first","affiliation":[{"name":"Department of Mechatronics Manipal Institute of Technology, Manipal Academy of Higher Education Manipal Karnataka India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dayal R.","family":"Parhi","sequence":"additional","affiliation":[{"name":"Robotics Laboratory, Mechanical Engineering Department National Institute of Technology Rourkela Odisha India"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2024,9,5]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compeleceng.2019.01.001"},{"key":"e_1_2_10_3_1","doi-asserted-by":"crossref","unstructured":"Chen J. J.Liang andY.Tong.2020. \u201cPath Planning of Mobile Robot Based on Improved Differential Evolution Algorithm.\u201d Paper presented at 2020 16th International Conference on Control Automation Robotics and Vision (ICARCV) Shenzhen China.","DOI":"10.1109\/ICARCV50220.2020.9305415"},{"key":"e_1_2_10_4_1","doi-asserted-by":"crossref","unstructured":"Duan P. J.Li H.Sang Y.Han andQ.Sun.2018. \u201cA Developed Firefly Algorithm for Multi\u2010Objective Path Planning Optimization Problem.\u201d Paper presented at 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation Control and Intelligent Systems (CYBER) Tianjin China.","DOI":"10.1109\/CYBER.2018.8688342"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.procs.2017.11.213"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compeleceng.2018.09.021"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2021.115110"},{"key":"e_1_2_10_8_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00500-020-05515-1"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-022-00448-0"},{"key":"e_1_2_10_10_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.matpr.2021.12.558"},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"key":"e_1_2_10_12_1","doi-asserted-by":"crossref","unstructured":"Li G. D.Zhang andY.Shi.2019. \u201cAn Unknown Environment Exploration Strategy for Swarm Robotics Based on Brain Storm Optimization Algorithm.\u201d Paper presented at 2019 IEEE Congress on Evolutionary Computation (CEC) Wellington New Zealand.","DOI":"10.1109\/CEC.2019.8789994"},{"key":"e_1_2_10_13_1","doi-asserted-by":"crossref","unstructured":"Li X. Y.Huang Y.Zhou andX.Zhu.2018. \u201cRobot Path Planning Using Improved Artificial Bee Colony Algorithm.\u201d Paper presented at 2018 IEEE 3rd Advanced Information Technology Electronic and Automation Control Conference (IAEAC) Chongqing China.","DOI":"10.1109\/IAEAC.2018.8577242"},{"key":"e_1_2_10_14_1","doi-asserted-by":"crossref","unstructured":"Lin M. J.Xiaoming andQ.Fei.2018. \u201cA Robot Obstacle Avoidance Method Based on Improved Genetic Algorithm.\u201d Paper presented at 11th International Conference on Intelligent Computation Technology and Automation (ICICTA) Changsha China.","DOI":"10.1109\/ICICTA.2018.00081"},{"key":"e_1_2_10_15_1","unstructured":"Lingelbach F.2004. \u201cPath Planning Using Probabilistic Cell Decomposition.\u201d Paper presented at IEEE International Conference on Robotics and Automation New Orleans LA."},{"key":"e_1_2_10_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2851148"},{"key":"e_1_2_10_17_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2017.05.012"},{"key":"e_1_2_10_18_1","doi-asserted-by":"crossref","unstructured":"Malayjerdi E. M.Yaghoobi andM.Kardan.2017. \"Mobile Robot Navigation Based on Fuzzy Cognitive Map Optimized With Grey Wolf Optimization Algorithm Used in Augmented Reality.\u201d Paper presented at 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Tehran Iran.","DOI":"10.1109\/ICRoM.2017.8466169"},{"key":"e_1_2_10_19_1","doi-asserted-by":"crossref","unstructured":"Meerza S. I. A. M.Islam andM. M.Uzzal.2019. \u201cQ\u2010Learning Based Particle Swarm Optimization Algorithm for Optimal Path Planning of Swarm of Mobile Robots.\u201d Paper presented at 2019 1st International Conference on Advances in Science Engineering and Robotics Technology (ICASERT) Dhaka Bangladesh.","DOI":"10.1109\/ICASERT.2019.8934450"},{"key":"e_1_2_10_20_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-014-0640-2"},{"key":"e_1_2_10_21_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jksuci.2017.12.009"},{"key":"e_1_2_10_22_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.dt.2018.06.004"},{"key":"e_1_2_10_23_1","doi-asserted-by":"publisher","DOI":"10.3233\/RFT-190176"},{"key":"e_1_2_10_24_1","doi-asserted-by":"crossref","unstructured":"Purian F. K. andE.Sadeghian.2013. \u201cMobile Robots Path Planning Using Ant Colony Optimization and Fuzzy Logic Algorithms in Unknown Dynamic Environments.\u201d Paper presented at 2013 International Conference on Control Automation Robotics and Embedded Systems (CARE) Jabalpur India.","DOI":"10.1109\/CARE.2013.6733718"},{"key":"e_1_2_10_25_1","unstructured":"Qing L. Z.Chao X.Yinmei andY.Yixin.2012. \u201cPath Planning of Mobile Robots Based on Specialized Genetic Algorithm and Improved Particle Swarm Optimization.\u201d Paper presented at Proceedings of the 31st Chinese Control Conference Hefei China."},{"key":"e_1_2_10_26_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.matpr.2018.06.265"},{"key":"e_1_2_10_27_1","doi-asserted-by":"crossref","unstructured":"Sarkar K. B. K.Balabantaray A.Chakrabarty B. B.Biswal andB.Mohanty.2021. \u201cPath Planning of Mobile Robots Using Enhanced Particle Swarm Optimization.\u201d Paper presented at 2020 3rd International Conference on Energy Power and Environment: Towards Clean Energy Technologies Shillong Meghalaya India.","DOI":"10.1109\/ICEPE50861.2021.9404505"},{"key":"e_1_2_10_28_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compeleceng.2021.107412"},{"key":"e_1_2_10_29_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.procs.2017.12.004"},{"key":"e_1_2_10_30_1","doi-asserted-by":"publisher","DOI":"10.1007\/s13369-018-3267-2"},{"key":"e_1_2_10_31_1","doi-asserted-by":"publisher","DOI":"10.1007\/s40998-018-0112-2"},{"key":"e_1_2_10_32_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-018-0260-2"},{"key":"e_1_2_10_33_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.procs.2023.01.043"},{"key":"e_1_2_10_34_1","doi-asserted-by":"crossref","unstructured":"Tuba E. I.Strumberger D.Zivkovic N.Bacanin andM.Tuba.2018. \u201cMobile Robot Path Planning by Improved Brain Storm Optimization Algorithm.\u201d Paper presented at 2018 IEEE Congress on Evolutionary Computation (CEC) Rio de Janeiro Brazil.","DOI":"10.1109\/CEC.2018.8477928"},{"key":"e_1_2_10_35_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2017.12.015"},{"key":"e_1_2_10_36_1","unstructured":"Wu W. Z. Q.Sen J. B.Mbede andH.Xinhan.2001. \u201cResearch on Path Planning for Mobile Robot Among Dynamic Obstacles.\u201d Paper presented at Proceedings Joint 9th IFSA World Congress and 20th NAFIPS International Conference (Cat. No. 01TH8569) Vancouver BC Canada."},{"key":"e_1_2_10_37_1","doi-asserted-by":"crossref","unstructured":"Zhang B. Y.Duan Y.Zhang andY.Wang.2020. \u201cParticle Swarm Optimization Algorithm Based on Beetle Antennae Search Algorithm to Solve Path Planning Problem.\u201d Paper presented at 2020 IEEE 4th Information Technology Networking Electronic and Automation Control Conference (ITNEC) Chongqing China.","DOI":"10.1109\/ITNEC48623.2020.9085035"},{"key":"e_1_2_10_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2864188"},{"key":"e_1_2_10_39_1","doi-asserted-by":"crossref","unstructured":"Zhao J. X.Gao andX.Fu.2011. \u201cMobile Robot Path Planning Based on Improved Ant Colony Optimization Algorithm.\u201d Paper presented at Proceedings of the 30th Chinese Control Conference.","DOI":"10.1109\/ISA.2011.5873347"}],"container-title":["Journal of Field Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.22428","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,15]],"date-time":"2025-05-15T12:59:47Z","timestamp":1747313987000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.22428"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,9,5]]},"references-count":38,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2025,6]]}},"alternative-id":["10.1002\/rob.22428"],"URL":"https:\/\/doi.org\/10.1002\/rob.22428","archive":["Portico"],"relation":{},"ISSN":["1556-4959","1556-4967"],"issn-type":[{"type":"print","value":"1556-4959"},{"type":"electronic","value":"1556-4967"}],"subject":[],"published":{"date-parts":[[2024,9,5]]},"assertion":[{"value":"2023-09-22","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-08-17","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-09-05","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}