Paper Info
Title
Controlling swarm robots with kinematic constraints for target search
Abstract
An approach to control artificial swarm whose members are autonomous wheeled mobile robots is proposed, by applying Particle Swarm Optimization (PSO) to target search. First, swarm search is mapped to PSO based on similarities between the two cases. Then a distributed PSO-style algorithm is given, in which decision making on real inputs of linear and angular velocity of robot controller being explored. We obtain the required command sequences by constraining the computational expected velocities and positions with robot's non-holonomic properties in kinematics. In this way, swarm robots can work together cooperatively.
Year
DOI
Venue
2009
10.1145/1543834.1543998
GEC Summit
Keywords
Field
DocType
particle swarm optimization,robot controller,angular velocity,non-holonomic property,artificial swarm,pso-style algorithm,swarm search,mobile robot,target search,real input,kinematic constraint,swarm robot,controlling swarm robot,swarm robotics,kinematics
Particle swarm optimization,Mathematical optimization,Swarm behaviour,Control theory,Computer science,Ant robotics,Multi-swarm optimization,Artificial intelligence,Robot,Mobile robot,Metaheuristic,Swarm robotics
Conference
Citations 
PageRank 
References 
0
0.34
4
Authors
2
Name
Order
Citations
PageRank
Songdong Xue1244.31
Jianchao Zeng293094.89