Trajectory tracking of single and multiple humanoid robots in cluttered environment

The goal of this work is to create an obstacle-free optimized route for single and multiple humanoid robots in a complex workspace. A FA (Firefly algorithm) strategy for autonomous locomotion of humanoid robots has been presented in this research. The FA agent's response is determined by the position of each obstacle, humanoid robot, the range between them, and the direction of the separation gradients. Based on this information, the approach provides an optimal driving angle that helps the robot to avoid the obstacle. One humanoid robot is viewed as a dynamic barrier for others, which must be dodged by them. The WEBOT platform is used to construct a simulation system that involves a representation of the humanoid robot navigation. Numerous runs are simulated for both single and multiple humanoid robots, and the results show how well the presented approach performs. Additionally, the robustness of the approach has been examined by comparing it in reference to an existing controller.