Title :
A PSO-inspired multi-robot search algorithm independent of global information
Author :
Zhu, Qian ; Liang, Alei ; Guan, Haibing
Author_Institution :
Key Lab. of Scalable, Comput. & Syst., Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
This paper presents an algorithm that coordinates mobile robots to find the desired targets without depending on precise global information. We compare the abstract solution space in PSO and physical environment that robots will explore. According to similarities and differences between them, we introduce a PSO-inspired search algorithm to guide robots to complete the search mission. Moreover, a novel method based on Cartesian geometry for unifying relative coordinate systems will be adopted to improve system´s robustness and efficiency.
Keywords :
mobile robots; multi-robot systems; particle swarm optimisation; search problems; Cartesian geometry; PSO-inspired search algorithm; mobile robot; multirobot search algorithm; relative coordinate system; Force; Manganese; Particle swarm optimization; Robot kinematics; Robot sensing systems; PSO-inspired; multi-robot search; relative coordinate system; repulsion;
Conference_Titel :
Swarm Intelligence (SIS), 2011 IEEE Symposium on
Conference_Location :
Paris
Print_ISBN :
978-1-61284-053-6
DOI :
10.1109/SIS.2011.5952586
