An Evaluation of Swarm Robotic Cooperative Target Search

Shijie Lu, Yingguang Hao

2018

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.

Paper Citation

in Harvard Style

Lu S. and Hao Y. (2018). An Evaluation of Swarm Robotic Cooperative Target Search.In 3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: ICECTT, ISBN 978-989-758-312-4, pages 476-486. DOI: 10.5220/0006972904760486

in Bibtex Style

@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 - Volume 1: ICECTT,},
year={2018},
pages={476-486},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006972904760486},
isbn={978-989-758-312-4},
}

in EndNote Style

TY - CONF

JO - 3rd International Conference on Electromechanical Control Technology and Transportation - Volume 1: 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