A PSO-inspired multi-robot search algorithm independent of global information

摘要

This paper presents an algorithm that coordinates mobile robots to find the desired targets without depending on precise global information. We compare the abstract solution space in PSO and physical environment that robots will explore. According to similarities and differences between them, we introduce a PSO-inspired search algorithm to guide robots to complete the search mission. Moreover, a novel method based on Cartesian geometry for unifying relative coordinate systems will be adopted to improve system's robustness and efficiency.