Swarm robots formation control based on double PSO swarms with an adaptive fitness control parameter

摘要

A particle swarm optimization (PSO) algorithm was developed for problems with constraint conditions. An adaptive approach was developed for double PSO swarms with the objective function and constraint condition considered separately.Two PSO swarms with different goals can evolve to global optimal solutions at the same time with adaptive weighted coefficients and adaptive adjustment strategies introduced into the two swarms.The logic assumes that all infeasible individuals are worse than the feasible individuals and then dynamically adjusts the fitness so as to ensure that some infeasible individuals will evolve into the feasible domain of the particle evolution. The algorithm is applied to swarm robot formation control with a chain type structure (column) formation,with simulations showing the effectiveness of the algorithm.This PSO approach provides a new way to solve constrained problems for the practical applications.