An improved whale optimization algorithm for multi-robot path planning

Multi-robot path planning is challenging and has increasingly attracted attention with its widespread applications. This article proposes an improved Whale Optimization Algorithm (WOA) with Refracted opposition-based learning and Quantum behaviour (RQWOA). The algorithm is able to plan smooth and collisionless paths for robots combining cubic spline interpolation and multi-robot coordination. A quantum behavioural mechanism is used to coordinate the evolution of the whale population during the variable phase to increase the population quality and balance the exploration and exploitation capabilities of the WOA. Simultaneously, refracted opposition-based learning is introduced to improve the algorithm's optimization accuracy and convergence speed. The RQWOA was compared with seven efficient algorithms in experiments on classical test functions and multi-robot path planning cases. The results of these methods were tested statistically. The experimental results indicate that the RQWOA has superior solution accuracy. The RQWOA is highly competitive in terms of pathlength and stability in solving multi-robot path planning problems.