An Evaluation of Swarm Robotic Cooperative Target Search

Shijie Lu; Yingguang Hao

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Paper

An Evaluation of Swarm Robotic Cooperative Target Search

In 3rd International Conference on Electromechanical Control Technology and Transportation ICECTT - Volume 1, 476-486, 2018 , Chongqing, China

Authors: Shijie Lu and Yingguang Hao

Affiliation: School of Information and Communication Engineering, Dalian University of Technology, China

Keyword(s): Swarm Robotics, Particle swarm optimization, Auxiliary orientation, Roaming algorithm

Abstract: To search for multiple targets with swarm robots, those robots should be divided into some sub-swarm by job allocation, so that each sub-swarm can cooperatively work focusing on its desired target. Each sub-swarm searches for its target by evolutionary algorithm. In order to improve the cooperative search ability of sub-swarm, a new particle swarm algorithm based on auxiliary orientation improvement is proposed to enhance the efficiency and accuracy of the search. In the simulation, the general roaming algorithm consumes a longer time to find the target, and reduces the overall efficiency of the system. In order to solve this problem, a spiral roaming method based on artificial potential field is introduced to improve the global search capability. The simulation results show that the search efficiency is improved significantly by using this method.

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Paper citation in several formats:

Lu, S. and Hao, Y. (2018). An Evaluation of Swarm Robotic Cooperative Target Search. In 3rd International Conference on Electromechanical Control Technology and Transportation - ICECTT; ISBN 978-989-758-312-4, SciTePress, pages 476-486. DOI: 10.5220/0006972904760486

@conference{icectt18,
author={Shijie Lu. and Yingguang Hao.},
title={An Evaluation of Swarm Robotic Cooperative Target Search},
booktitle={3rd International Conference on Electromechanical Control Technology and Transportation - ICECTT},
year={2018},
pages={476-486},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006972904760486},
isbn={978-989-758-312-4},
}

TY - CONF

JO - 3rd International Conference on Electromechanical Control Technology and Transportation - ICECTT
TI - An Evaluation of Swarm Robotic Cooperative Target Search
SN - 978-989-758-312-4
AU - Lu, S.
AU - Hao, Y.
PY - 2018
SP - 476
EP - 486
DO - 10.5220/0006972904760486
PB - SciTePress