Control of swarm robotics in Webots with PSO

Abstract

In this study, robot movements were created in Webots simulation environment with Particle Swarm optimization algorithm to implement collective task behaviors in swarm robots. In addition to the basic PSO equation, the physical conditions necessary for the robots' movements to reach the desired point are discussed. For this study, the simulator environment was preferred instead of the real world. In the meantime, by introducing the existing simulator programs, information about the Webots simulation program was given and the working architectures were introduced.