Controlling swarm robots for target search in parallel and asynchronously

doi:10.1504/IJMIC.2009.030082

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	Controlling swarm robots for target search in parallel and asynchronously
	Xue, Songdong 1,2; Zeng, Jianchao 1
刊名	International Journal of Modelling, Identification and Control
	2009-12-01
卷号	8 期号:4 页码:353-360
关键词	Data communication equipment Decision making Particle swarm optimization (PSO) Position control Robots Signal detection Asynchronous control Parallel process Particle swarm optimisation Swarm robotics Target search
ISSN号	17466172
DOI	10.1504/IJMIC.2009.030082
英文摘要	To control swarm robots with extended particle swarm optimisation approach for target search, target signals should be detected and fused as fitness evaluate due to the inherent parallel processing property caused by spatial interspersed of robots in search environment. Also, differences in sampling frequency of sensors and communication delays make it realistic to control such swarm systems asynchronously. Therefore, two asynchronous update principles, i.e., the communication cycle-based and evolution position-based control strategies are presented in case of target search. Besides, a concept of time-varying character swarm is proposed to facilitate decision-making on the best-found position. Each robot detects signals in a fine-grained parallel way and compares fusion of signals with the best in its character swarm. Then velocities and positions of individual robots are updated immediately. But the shared information within character swarm is updated asynchronously according to different control principles only. Simulation results indicate that the communication cycle-based strategy has advantage over the evolution position-based control strategy in search efficiency. Copyright © 2009 Inderscience Enterprises Ltd.
WOS研究方向	Automation & Control Systems
语种	英语
出版者	Inderscience Publishers
WOS记录号	WOS:000217823500011
内容类型	期刊论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/111719]
专题	兰州理工大学
作者单位	1.Complex System and Computational Intelligence Laboratory, Taiyuan University of Science and Technology, Taiyuan 030024, China 2.College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou 730050, China;
推荐引用方式 GB/T 7714	Xue, Songdong,Zeng, Jianchao. Controlling swarm robots for target search in parallel and asynchronously[J]. International Journal of Modelling, Identification and Control,2009,8(4):353-360.
APA	Xue, Songdong,&Zeng, Jianchao.(2009).Controlling swarm robots for target search in parallel and asynchronously.International Journal of Modelling, Identification and Control,8(4),353-360.
MLA	Xue, Songdong,et al."Controlling swarm robots for target search in parallel and asynchronously".International Journal of Modelling, Identification and Control 8.4(2009):353-360.