An evaluation of PSO-type swarm robotic search: Modeling method and controlling properties

摘要

To show the validity of swarm robots modeling and control properties influenced by resulting algorithmic parameter settings, particle swarm optimization (PSO) is extended to be tools for applying to swarm robotic search applications. For this end, a series of experimental simulations are conducted and the effects of key algorithmic parameters, i.e., communication range, detection radius, and swarm size emerge from the statistical results. In such control architecture, swarm robots are modeled at an abstract level with the extended PSO and each individual is assumed to be controlled under three-state finite state machine mechanism. Simulation results indicate the validity of modeling method. Besides, significant positive correlations between search efficiency and communication range, detection radius as well as swarm size are also found.