Particle Swarm Optimization in Swarm Robotics

摘要

In this study, Swarm robots, collective task behaviors, and communication models for motion integrity are examined. Collective Motion, which is one of the taxonomies of Swarm robots, has been defined to be suitable for Swarm robotics, one of the optimization methods based on genetic algorithm, to ensure its behavior. Among these optimization methods, Particle Swarm Optimization is discussed and the difficulties and problems arising from the equation and communication are discussed during the movements of the Swarm robots by moving from the basic equation. In addition, solutions of these problems were studied. And also, in the communication systems that will control the movements of the Swarm robots, a discussion has been made on the communication model that will contribute to the Swarm robotics in the literature. As a result of this study, in order to provide the collective movements of swarm robotics and to create more efficient communication, robots are divided into groups and the Swarm is modeled according to this modeling.