An energy efficient Metaheuristic method for Micro Robots Indoor area Coverage problem

Recently micro robots have become more popular for realizing many indoor area coverage applications. According to the characteristics and limited energy of micro robots, they usually are used as multi-cooperators at covering indoor areas. Hence, researchers proposed some different algorithms for solving indoor area coverage problem. As far as we are aware the existed algorithms for micro robots usually were the same algorithms provided for normal sized robots. At normal sized robots although researchers taking into account the obstacles at the area, most of them did not provide energy efficiency as much as possible. In this paper we propose an Energy efficient Metaheuristic method for Micro Robots Indoor area Coverage problem (EMMRIC). In the proposed method at first we partition area to the number of micro robots through restricted K-mean algorithm and then micro robots cover assigned subareas by utilizing a modified genetic algorithm. The simulation results of EMMRIC prove the correctness of the proposed method in comparison with the state-of-the-art one.