Effects of Algorithmic Parameters on Swarm Robotic Search

摘要：

As one of valid modeling and coordinated controlling tools, the particle swarm optimization algorithm can be extended for applying to task of swarm robotic search. To gain an insight into effects of key parameters on distributed swarm search, a series of simulations are conducted. In such control algorithm, main parameters including communication range, detection radius, and swarm size are paid close attentions. Similar to ideal particles Swarm robots are modeled at an evel with the extended particle swarm optimization method. Also, individual robots are designed to be controlled under three-state finite state machine mechanism having SingleSearch, SwarmSearch, and Declaration states. Then, control strategy and algorithm are developed. The statistical results from simulating data indicate the validity of modeling approach. Further, the effects of three parameters on overhead and efficiency of system running come out in compared analysis both of different size swarms and of specific size swarm.

关键词： swarm robotics target search particle swarm optimization algorithmic parameter

作者: Tan Ying Xue Songdong Zeng Jianchao Pan Jengshyang Pan Tienszu

作者单位: Complex System and Computational Intelligence Laboratory Taiyuan University of Science and Technolog Department of Electronic Engineering National Kaohsiung University of Applied Sciences Kaohsiung 807

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）