Research Article

International Journal of Advanced

Robotic Systems
May-June 2021: 1–11
Optimized cuckoo search algorithm ª The Author(s) 2021
Article reuse guidelines:
using tournament selection function sagepub.com/journals-permissions
DOI: 10.1177/1729881421996136

for robot path planning journals.sagepub.com/home/arx

Kaushlendra Sharma , Shikha Singh and Rajesh Doriya

Abstract
Acceptability of mobile robots in various applications has led to an increase in mobile robots’ research areas. Path planning
is one of the core areas which needs to be improvised at a higher level. Optimization is playing a more prominent role
these days. The nature-inspired algorithm is contributing to a greater extent in achieving optimization. This article pre-
sents the modified cuckoo search algorithm using tournament selection function for robot path planning. Path length and
Path time are the algorithm’s parameters to validate the effectiveness and acceptability of the output. The cuckoo search
algorithm’s fundamental working principle is taken as the baseline, and the tournament selection function is adapted to
calculate the optimum path for robots while navigating from its initial position to final position. The tournament selection
function is replacing the concept of random selection done by the cuckoo search algorithm. The use of tournament
selection overcomes local minima for robots while traversing in the configuration space and increases the probability of
giving more optimum results. The conventional cuckoo search algorithm whose random selection mechanism may lead to
premature convergence may fall into the local minima. The use of tournament selection function increases the probability
of giving better results as it allows all the possible solution to take part in the tournament. The results are analysed and
compared with other relevant work like cuckoo search algorithm and particle swarm optimization technique and pre-
sented in the article. The proposed method produced a better output in terms of path length and path time.

Keywords
Cuckoo search, path length, path planning, tournament function

Date received: 21 November 2020; accepted: 20 January 2021

Topic Area: Mobile Robots and Multi-Robot Systems

Topic Editor: Nak-Young Chong
Associate Editor: Jonghoek Kim

Introduction and related work contribution is made to reduce the path length. To formulate
the problem, the second parameter, which plays an important
Path planning has been the issue in robotics system since the
role is the path time, that is, the technique’s time to derive
1970s1,2; much contribution has been made in this particular
field to make it more suitable and adaptable for the existing
environment. Path planning problem for robots can be Department of Information Technology, National Institute of Technology
defined as the route adopted by the robots for reaching the Raipur, India
destination from the source. The robot’s total distance is
known as the path length, and the problem starts taking Corresponding author:
Kaushlendra Sharma, Department of Information Technology, National
shape from here on, it is required that how this path length Institute of Technology Raipur, Great Eastern Road, Amanaka, Raipur
could be minimized so that the robots should reach its desti- 492010, India.
nation covering a minimal distance. Again much Email: [email protected]

Creative Commons CC BY: This article is distributed under the terms of the Creative Commons Attribution 4.0 License
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open-access-at-sage).
2 International Journal of Advanced Robotic Systems

Table 1. List of applications where cuckoo search algorithms is applied with their respective parameters whose performance is
improved using this algorithm.

Author Year Application Parameters RI Reference

12
Valian et al. 2011 Neural network training for two benchmark Accuracy, convergence rate 236
classification problems
13
Layeb 2011 Knapsack problems Reduced population size 166
14
Subotic et al. 2012 Unconstrained optimization problems Parallelization, quality of service 20
15
Yang et al. 2012 Business optimization applications Bankruptcy prediction 48
16
Yang and Deb 2013 Multiobjective design optimization Disc brake design 587
17
Yildiz 2013 Manufacturing optimization problems Maximizing profit rate 348
18
Basu and 2013 Micro grid power dispatch problems Cost convergence 163
Chowdhury
19
Ouaarab et al. 2014 Travelling salesmen problem Minimizing overall cost 299
20
Mohanty and 2013 Path planning for mobile robot Path length, path time 41
Parhi
21
Bhandari et al. 2014 Satellite image segmentation Entropy 284
22
Marichelvam 2014 Hybrid flowshop scheduling problems Minimize makespan 164
et al.
23
Goyal and 2014 Localization problem in wireless sensor network Localization accuracy 45
Patterh
24
Nguyen et al. 2014 Hydrothermal scheduling problems Fuel cost function 81
25
Mulani et al. 2015 Inverse heat transfer problems Time-step size, noise in measurements 41
and regularization
26
Ming et al. 2015 Complexity of water resources system or multi- Maximize energy production 49
reservoir system
27
Das et al. 2016 Multi-robot path planning Path length, energy optimization 100
28
Elazim and Ali 2016 Power system stabilizers (PSSs) design Damping oscillation 80
29
Abedi et al. 2017 Numerical optimization in tunnelling Penetration rate 14
30
Cui et al. 2017 Distance vector-Hop algorithm Detect Object Problem 07
31
El Aziz and 2018 Classification performance in high-dimensional Rough sets for feature selection 68
Hassanien data
32
Boushaki et al. 2018 Data clustering problems for known data sets Internal and external clustering quality 36
RI: research impact.

the minimal path. It is also called as the computation In this article, proposed a method for the path planning
time in many works of literature. Combining these two of autonomous mobile robot locally, that is, the search
parameters formulates more significant prospects of the space is unknown or partially known, and the obstacles are
problem domain. Now there is a need to minimize the static. They used brood parasitic behaviour and levy fight
path length and that too spending minimum time. To behaviour of cuckoo bird for finding the collision-free path
achieve the goal, several optimization techniques3–6 for the mobile robot. The objective function that they used
came into play which is capable of handling these two for calculating the optimal path from the start to the goal
issues simultaneously. In recent times, several nature- point is formulated between the robots, target and obstacle.
inspired algorithms have been proposed to achieve opti- The parameter taken into consideration includes obstacle
mization. These optimization algorithms can be utilized avoiding behaviour of the robot and the robot’s target seek-
in robot path planning to optimize its parameters like ing behaviour. Firstly, the robot moves from the start point
path length, path time, number of turns and many more. to the goal point in a straight line (i.e. shortest between two
There are many works done in the past which applied points). Whenever the robot senses the obstacle in its radar,
optimization technique in robot path planning.7–10 it implements the CS algorithm. Depending on the objec-
The cuckoo search (CS) algorithm is one of the widely tive function value calculated for each nest (i.e. solution) in
accepted algorithms for optimization problems, which have the swarm, the robot selects the best global solution to
been used by many application areas. In this article, we avoid obstacles and then proceed towards goal. They
have used the CS algorithm11 for optimizing the path length claimed better performance and higher efficiency of the
and path time for robots path planning. We modified the CS proposed method using CS algorithm in optimizing robot
algorithm to perform better than the conventional CS algo- navigation by comparing the results with other nature-
rithm by applying the tournament selection function. inspired meta-heuristic algorithms genetic algorithm
Here, in this section, a detailed survey of the CS algo- (GA) and particle swarm optimization (PSO). To analyse
rithm is discussed and presented. the CS algorithm thoroughly. Table 1 is presented in the
Sharma et al. 3

article, which gives a brief survey related to CS algorithm. problems. It well balances nicely between the local random
The year-wise development of the algorithm is presented walk and the global random walk. This balance between the
with the parameters of different application areas and its local and random walk is controlled by a switching para-
contribution to improving the performance.33,34 meter of P 2 ½0; 1.36 Following two equations represents
The article is organized in the following way: First, the the local and random walk
necessary working procedure of CS search algorithm is dis-
cussed in detail. The next section explains how it is incorpo- X itþ1 ¼ X ti þ as  Hðpa  eÞ  ðX tj  X tk Þ ð2Þ
rated in robot path planning, after that the next section deals
with the details of proposed work, describing the use of tour- X itþ1 ¼ X ti þ aðS; lÞL ð3Þ
nament function and the CS algorithm. The later section pre-
sents the results and discussion followed by the conclusion.

Parameter Description
Cuckoo search X ti , X tk Initial point selected by random permutation.
CS algorithm is one of the nature-inspired meta-heuristic a Positive step size scaling factor.
X tþ1 Succeeding location.
algorithms. It is an optimization meta-heuristic search algo- s Size of the step.
rithm proposed by Yang and Debb34 in 2009. Due to its  Entry-wise multiplication of two vectors.
simplistic mathematical processes and capability of solving H Heavy-side function.
linear/non-linear problems, it is all over well adopted to Pa Switching parameter.
solve the optimization-related problems. Some cuckoo’s e Random number from a uniform distribution.
obligated behaviour inspired the working of the CS algo- L(s, l) Levy distribution which defines the size of the step.
rithm.35 This algorithm is widely accepted in optimization
problems like mobile robot navigation, network configura-
tion and many other similar problems. In mobile robot path Path planning for robots using CS
planning, it reduces the robot’s computational time to navi-
gate from one position to another and increases its perfor- The navigation problem is primarily transformed into a
mance. The hypothesis of the algorithm is constructed on the minimization problem, as most of the service robots navigate
nature of parasitic organisms. It is well known as obligate in an unknown environment to find the best suitable path to
brood parasitic behaviour. It is the process where the organ- reach the destination. The path is obtained using the objec-
ism (here the bird cuckoo) relies on some other’s nest or at tive function. It is calculated by locating the coordinates of
the host to reproduce. the goal and the current obstacle position in the workspace.
The behaviour of cuckoo’s bird inspires the theory of CS After formulating the objective function, the CS algorithm is
algorithm. A group of cuckoo while laying their eggs fol- applied to solve the path optimization problem.37 The best
lows a typical procedure, they lay one egg at a time and put nest selected globally is considered during the entire execu-
it in some other’s nest. Other cuckoo’s when found the egg tion, and the process is repeated in each iteration. After
in their nest and identifies that the egg is not her then the selecting best nest in each round the robot is made to proceed
host cuckoo destroys the entire egg present in the nest. The in series utilizing all the selected best nest locations. More-
host bird discovers the egg laid by a cuckoo with a prob- over, if there are no obstacles found, then the robot
ability Pa ½0; 1. All the cuckoo perform this procedure, and approaches towards the destination without any hindrances.
at the end, only a few nests having eggs in them survives. Initially, when a robot starts from its initial position, it
The last rule can be calculated by replacing a fraction Pa of continuously moves towards the goal, the problem occurs
the n host nests with new nests. The value obtained using when the robot encounters an obstacle in its path. When it
the objective function decides the quality of a solution. The comes closer to the obstacles, the sensors inbuilt alerts the
ultimate goal is to derive a better solution. robot to stop. The path planning algorithm (CS algorithm)
Levy flight method is expended in the CS algorithm for is called to find the next move to not collide with any
finding solutions. It is a type of random walk which dis- obstacles and gives the optimal way to move forward. Here,
tributes the steps based on the step length. This step length the best nest position given by CS is used to do so. Every
is obtained using the heavy-tailed probability distribution. solution given by CS algorithm is bounded with a numeric
Levy flight is a random walk in which the increments are value. In goal-seeking, the approach it opts is to measure
obtained using a power law. the two distances from the point, the first distance is from
t the obstacle which should be maximum, and another one
y ¼ xb ð1Þ
should be from the destination which should be minimum.
While working with the CS algorithm, the cuckoo’s eggs The CS algorithm’s key point is to select the best nest
play an essential and potential role in finding solutions. based on the concept of selecting a nest having a minimum
This algorithm is widely adopted for global optimization value of their objective function. CS is applied to optimize
4 International Journal of Advanced Robotic Systems

Figure 1. Different stages showing the working of cuckoo search algorithm that how a robot works and finds optimal path in the given
workspace while traversing from source point to goal point.

the path length for the robots. The distance between the
robot and the obstacle is the significant criteria for the robot Parameter Description
to select the next location in the workspace. It is based on G Goal position.
the following conditions: XG ; Y G Coordinates of the goal.
N Number of obstacles.
 Following equation is utilized for finding the dis- OB1 ; OB2 Different obstacles.
tance between the robot and the obstacle. The con- X OB1 ; Y OB2 Coordinates of the obstacles.
dition here is that the most considerable distance C1; C2 Controlling parameters
between them is considered
Number of obstacles present are OBd 2 ðOB 1 ; OB2 ;
OB 3 ; . . . ; OBN Þ.
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
 2 The controlling parameters of the objective function are
ðDistÞROB ¼ ðxOBN  X ROB Þ 2 þ yOBN  yROB ð4Þ selected wisely. The benefit of using the CS algorithm is
 The following equation is utilized to find the dis- that the parameters to be adjusted are less than the GA and
tance between the robot and the destination, while PSO.38 Thus, the CS algorithm is more generic to apply to a
the minimum distance between them is considered broader class of optimization problem. A detailed review of
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi the CS algorithm is presented by Parhi et al.39
ðDistÞRG ¼ ðxG  xROB Þ 2 þ ðyG  yROB Þ 2 ð5Þ The graphical representation of the working CS algo-
rithm for robot path planning is shown in detail in Figure 1
Satisfying the above two criteria the objective function in four different stages. From Figure 1(a), it is assumed that
for the cuckoo’s nest can be derived as S is the robot’s start position in the given workspace from
where the traversing towards the end point starts. Xs and Ys
1
f ðni Þ ¼ c 1 :   þ c 2 :jjni  Gjj ð6Þ denote robot’s initial coordinates. The path SG is consid-
minjni  OBj j ered the optimal path as a straight line is the shortest
Sharma et al. 5

distance between two points. G is the goal point where the Algorithm 1. Path planning.
robot is desired to reach with optimal path length and time.
It is represented by the coordinates Xg and Yg. The point, C,
denotes the collision point where the robot’s sensing range
has detected an obstacle has arrived in its ideal path line.
Line SC is the path in the free space where the robot is
moving without any collision. Xo and Yo represent the
obstacle’s coordinates.
In Figure 1(b), while moving from its start point in the
workspace, whenever the robot senses some obstacle in its
environment through the sensor present in it, it implements
the path planning algorithm; here in this case, CS algorithm
is used to find the next best location for the robot. C rep-
resents the collision point, and the dotted circle denotes the
periphery of the obstacle where the traversal is not possible
for a robot. This is the point from where the role of path Proposed methodology
planning algorithm starts for finding the optimal path. In the modified CS algorithm, we used the tournament
In Figure 1(c), when the robot gets stuck with the selection function to improve the performance. The first
obstacle, the CS algorithm will decide the next best selection is made using levy flight to select the nest for
move for the robot according to the values obtained placing the cuckoo eggs there and then rest of the selection
from the objective function for each new solution/ran- is made by applying tournament selection function. This
dom position. The objective function works on the dis- helps to optimize the performance of parameters like path
tance criteria between the new random position to the length and path time. The CS algorithm’s performance is
obstacle and the goal/target point. The main objective improved with tournament selection method as it checks
is to take the new position such that it should be min- for all the possible solution nests with higher fitness value,
imum in the distance from the goal and maximum from unlike in levy flight where the nests are selected based on
the obstacle. Initially, the CS algorithm generates a their fitness values chosen randomly. Levy flight is also
random number of host nests through levy flight inefficient for significant problems. This method is mainly
method. Then it selects the current best among them used in GAs.40 In our proposed research work, we are using
using tournament selection method by comparing the it with CS algorithm for robot navigation. Tournament
fitness value of t individuals selected randomly from function replaces the criteria of random selection among
the total initial population and places the solution over the solution nests. The random selection of a solution is
the host nest solution for the next host nest position. replaced by the modified CS algorithm’s tournament selec-
This process is done for n number of times. Afterwards, tion method. The working principle of tournament selec-
the algorithm compares the current best solutions/posi- tion allows all the candidates from the current generation to
tions according to their objective function values and participate in the tournament, and the selection of t indi-
chooses one position. This position is now the global viduals is made from the initial population. The process
best solution, and the robot moves a step ahead towards continues to select the best individual from the tournament
the optimized path. of the next generations. This process is done for n number
In Figure 1(d), the position C is defined to be the colli- of times, and a global best solution is selected as the next
sion point, and after resolving the collision or avoiding the solution towards the destination. Figure 2 presents the
obstacle through the modified CS algorithm, the robot operational flow of the proposed work, where the selection
moves towards the global best solution among the current of different nodes done through tournament function is
best solutions which is denoted as C 0 (new position of the presented.
robot). The robot then again continues its usual path if no
obstacle is detected and if it counters another obstacle on
the way it applies the same approach to overcome it. The Tournament selection
CS algorithm is implemented only if the robot senses some Exploring and exploiting the given workspace are the two
hurdles in its path else it travels towards the goal/target most essential aspects in deciding whether the algorithm’s
point. Algorithm 1 presents the necessary steps to find the selection process is fair or not. Exploring the traversable
path to be traversed by the robot in the given configuration space and exploiting the knowledge base (current knowl-
space. The path obtained thus will be the optimal and edge base gained by the experience for finding the best
collision-free path. The next section details using tourna- solution). The efficient selection of these two factors usu-
ment function to select the next best and the CS algorithm. ally balances the algorithm in finding optimized solution.
The tournament selection function is one of the well-known
6 International Journal of Advanced Robotic Systems

Algorithm 2. Tournament selection

each candidate is allowed to participate in the initial stage

of the tournament. After competing at the initial stage, the
best candidates based on their fitness value qualify for the
next round, and the process goes on it, a particular node is
selected as the winner of the tournament. Multiple tourna-
ments are organized between the source node and the goal
node to reach from source to goal in the robot path planning
scenario. The modified approach provides diversity to
robot path planning. In the conventional path planning
using CS, it uses random selection based on their fitness
values. This approach’s drawback is that it selects the next
based on the current best, which may sometimes lead to
entering the local minima and restricts the approach to be
utilized in large applications. The use of tournament func-
tion overcomes this problem as it has less chance of con-
vergence and makes it the best fit for working in a large
workspace.
The first step is to select the initial node while starting
from the source point. In the proposed methodology, the
first walk around or the selection of the first node is made
using the levy flight which is the basic CS algorithm incor-
porates within, after the first node selection the rest of the
selection is made using tournament selection function.32
Figure 3 explains the working of tournament function with
CS algorithm for optimizing path for robots. A flow chart is
also shown in Figure 2 to show the modified CS algo-
rithm’s working flow for robot path planning. Equation
(2) represents the selection based on the levy flight for the
first walk around, while equations (3), to (5) represent the
method of selecting the further nodes respectively using
probability function while deriving path from source to
Figure 2. Working flow of the proposed work. goal. The combination of tournament selection function
helps diversify the nature of CS algorithms for many other
methods for selecting the next best candidates in GA.41,42 It applications.
gives the best results in situations where there is a require-
ment of choosing a few among many. It selects the best one gð1 þ bÞ  ðp þ b=2Þ
LevyFlight ¼ ð7Þ
based on each node’s fitness value (called as candidates in gð1 þ b=2Þ  b  2ðb  1Þ=2
terms of GA). The working principle consists of many
InitialSelection ¼ ðpÞ ð8Þ
iterations until the purpose is served. Each round consists
of multiple iterations, and in each iteration, multiple can-
p  ð1  pÞ; p  ð1  pÞ 2 ð9Þ
didates participate in the tournament. To select the candi-
dates among all the available nodes, there is another Here in this article, we have taken into account the two
parameter known as selection pressure which is a probabil- most essential parameters, path length and path time, to
istic pressure of all the possible candidates based on which observe our proposed methodology.
Sharma et al. 7

Figure 3. The working of proposed methodology of using tournament selection function with cuckoo search algorithm for robot path
planning in the static environment for finding an optimal path in the given workspace.

Path length: The total distance travelled by the robot Algorithm 3. Modified cuckoo search algorithm.
in the free space without any collision. Uncertain
path planning leads to more number of collisions and
thus results in the increased path length. Therefore,
path planning should be done to be the shortest path
length between the source and goal point. We take
the difference between goal coordinate and source
coordinate. There are many ways to calculate dis-
tance like Euclidean distance, Manhattan distance and
Chebychev method. Here we prefer the Euclidean
distance
X
N 1qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
 2
f1 ¼ ðxiþ1  xi Þ 2 þ yiþ1  yi ð10Þ
i¼1

Path time: The robot’s total time in traversing the

optimized path formed using a CS algorithm. It is
directly proportional to the robot’s path length in
most cases though there are some complex cases
where this rule does not imply, mostly in dense and
more complex environments. However, basically in
most cases, more the path length, more will be the
path time. The optimization is done so that the robot
takes a lesser amount of time and path length. This is robot in reaching towards the goal point. The robot’s
one of the most critical parameters in the robot’s diagonal movement requires less battery as the path
application.Smoothness: Two lines which make angle length would be reduced, and thus the total energy robot
and are the part of the path to be traversed should be uses in traversing the path is lowered. fs in equation (11)
able to make robot not to deviate from its path, the value represents the smoothness
of angle should be such that it should not tend robot to X
N 1
suddenly change path with a little change in the value of fs ¼ aðli ; liþ1 Þ ð11Þ
the angle. It is the total number of turns taken by the i¼1
8 International Journal of Advanced Robotic Systems

Figure 4. Path obtained after implementing the proposed algorithm using four different reference maps. The top row presents the
output of the result while the second row shows the input reference maps, the arrow indicating towards the respective output of
reference maps, the blue line in the output map represents the path obtained.

Success rate: This parameter accounts for the number of nests with higher fitness value. According to the tourna-
times the proposed methodology provides the correct ment function, several t size tournaments are organized
output. The threshold value could be taken from path between n possible solutions and best among them is
length or path time for comparing the results over every selected. This is done for n number of times, and every time
iteration here, after applying the CS algorithm on each it is being compared with the solution obtained via levy
reference map for a certain number of times. flight and the solution with more fitness value is selected,
the current solution gets updated. The solutions are ranked
according to the objective function values obtained.
Furthermore, the solution with the highest fitness value is
Results and discussion considered to be the global best solution. The robot then
The proposed work uses the concepts of using tournament moves towards the best solution. This is repeated until the
selection with CS algorithm for finding paths for robots. robot reaches the target position.
The conventional procedure is best in finding the next best Figure 4 shows the implementation of the proposed
near the existing best if this procedure continues, which approach on four different reference maps. Later on, the
would lead to being trapped in a local minima problem. experiment is conducted on four other reference maps. The
This is best suited when the workspace is minimal and maps consider the diagonal path to be traversed by the
known. To broaden the horizon, there is a need to skip robot. In the navigation path, the robot confronts several
this trap. This article proposes the tournament selection obstacles to reach the destination from the start point.
function to skip the local minima problem while traver- The modified CS algorithm’s proposed method
sing from the source node to the goal node for finding the represents that it performs well in dense maps and pro-
path for robots. vides an optimal path to the robot. The reference maps
The tournament selection function picks the current best considered are of 500  500 in size. In Figure 4, four
among the general population. Contrary to which the con- different reference maps are presented, which are con-
ventional approach leads to the premature convergence sidered as the input maps where the start and goal
restricting it to function in the large workspace. The CS points are mentioned. After running the algorithm on
algorithm’s performance is improved with tournament this map, the resultant maps with the blue line showing
selection method as it checks for all the possible solution the optimal path from the start node to the goal node
Sharma et al. 9

Figure 5. Graph showing the comparison of processing time using cuckoo search algorithm and the proposed algorithm using the four
different reference maps.

Figure 6. Graph showing the comparison of path length using cuckoo search algorithm and the proposed algorithm using the four
different reference maps.

are depicted. Figure 5 depicts the performance compar- having the edge over the rest two, as shown in the
ison on the robot’s time to navigate the obstacles and graph. Table 2 presents the comparison of results
reach the target. Figure 6 depicts the performance com- obtained from the proposed work, the basic CS algo-
parison on the path traversed by both the algorithms. rithm and PSO in terms of path length, path time and
The graph represents the basic CS algorithm, PSO and the success rate which shows that the proposed
the modified CS algorithm. The proposed work is approach performs better than the CS algorithm.
10 International Journal of Advanced Robotic Systems

Table 2. Comparison of results obtained, path length and path time on the four different reference maps using cuckoo search algorithm
and the proposed approach.

Cuckoo search Modified cuckoo search PSO

Reference Path length Path time Path length Path time Success Path length Path time
map Map size (units) (s) (units) (s) (%) (units) (s)
Map 1 500  500 10.795 212.77 9.996 197.01 100 11.695 230.50
Map 2 500  500 11.378 181.78 10.837 173.13 100 12.679 200.56
Map 3 500  500 10.862 119.70 10.152 111.87 100 11.877 140.88
Map 4 500  500 11.039 184.48 10.223 178.23 100 11.960 208.52
Map 5 500  500 12.382 213.88 11.465 198.04 100 13.414 231.70
Map 6 500  500 12.133 215.42 11.235 199.47 100 14.144 223.37
Map 7 500  500 11.659 202.91 10.796 187.88 100 12.631 219.81
Map 8 500  500 13.574 214.44 12.569 198.56 100 14.705 232.31
PSO: particle swarm optimization.

Conclusion motivates future work to test the proposed approach for

multi-robot system or warehouse applications.
This research article presents an approach to find an opti-
mal and collision-free path for robots using modified CS
Declaration of conflicting interests
algorithm for path planning. This article has presented a
novel approach to replace the robot’s random movement The author(s) declared no potential conflicts of interest with
respect to the research, authorship, and/or publication of this
based on levy flight with the tournament selection function.
article.
The conventional CS algorithm used a random selection of
points on the workspace and picked the best among them.
Funding
This method has a high probability of leaving the nodes that
might lead to the best solution. There can be a case where The author(s) received no financial support for the research,
the same point is selected more than once due to the meth- authorship, and/or publication of this article.
od’s random selection criteria. This leads to the local
minima problem where the robot gets entangled in the ORCID iD
workspace instead of reaching the optimal path. Therefore, Kaushlendra Sharma https://orcid.org/0000-0002-9140-5788
we have used tournament selection function in our modi-
fied approach. This method randomly picks a few points References
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