A Modified Whale Optimization Algorithm with Multi-Objective Criteria for Optimal Robot Path Planning

Exploration and exploitation are the two important property of every search and optimization algorithm [1]. Exploration aims to visit entirely new region of a search space whilst, on the other hand exploitation focuses on those regions of a search space recently visited. To be successful, optimization algorithms need to setup a proper mechanism to achieve good exploration and exploitation. We propose a Modified Whale Optimization Algorithm (MWOA) with 2-additional parameters: whale memory and a new random search agent. Whale memory is introduced to enhance exploitation ability of the WOA, whilst on the hand exploitation is achieved through a new random search agent (rather than selecting a random search agent from existing population as with WOA select a new random search agent from the current population).