An Adaptive Particle Swarm Optimization Algorithm for Distributed Search and Collective Cleanup in Complex Environment

Yi Cai, Zhutian Chen, Jun Li, Qing Li and Huaqing Min

International Journal of Distributed Sensor Networks, 2013, vol. 9, issue 12, 560579

Abstract: Distributed coordination is critical for a multirobot system in collective cleanup task under a dynamic environment. In traditional methods, robots easily drop into premature convergence. In this paper, we propose a Swarm Intelligence based algorithm to reduce the expectation time for searching targets and removing. We modify the traditional PSO algorithm with a random factor to tackle premature convergence problem, and it can achieve a significant improvement in multi-robot system. It performs well even in a obstacle environment. The proposed method has been implemented on self-developed simulator for searching task. The simulation results demonstrate the feasibility, robustness, and scalability of our proposed method compared to previous methods.

Date: 2013
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Persistent link: https://EconPapers.repec.org/RePEc:sae:intdis:v:9:y:2013:i:12:p:560579

DOI: 10.1155/2013/560579

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