Controlling swarm robots for target search in parallel and asynchronously

doi:10.1504/IJMIC.2009.030082

	Controlling swarm robots for target search in parallel and asynchronously
	Xue, Songdong 1,2; Zeng, Jianchao 2
	2009-12-01
发表期刊	International Journal of Modelling, Identification and Control
ISSN	17466172
卷号	8 期号:4 页码:353-360
摘要	To control swarm robots with extended particle swarm optimisation approach for target search, target signals should be detected and fused as fitness evaluate due to the inherent parallel processing property caused by spatial interspersed of robots in search environment. Also, differences in sampling frequency of sensors and communication delays make it realistic to control such swarm systems asynchronously. Therefore, two asynchronous update principles, i.e., the communication cycle-based and evolution position-based control strategies are presented in case of target search. Besides, a concept of time-varying character swarm is proposed to facilitate decision-making on the best-found position. Each robot detects signals in a fine-grained parallel way and compares fusion of signals with the best in its character swarm. Then velocities and positions of individual robots are updated immediately. But the shared information within character swarm is updated asynchronously according to different control principles only. Simulation results indicate that the communication cycle-based strategy has advantage over the evolution position-based control strategy in search efficiency. Copyright © 2009 Inderscience Enterprises Ltd.
关键词	Data communication equipment Decision making Particle swarm optimization (PSO) Position control Robots Signal detection Asynchronous control Parallel process Particle swarm optimisation Swarm robotics Target search
DOI	10.1504/IJMIC.2009.030082
收录类别	EI ; ESCI
语种	英语
WOS研究方向	Automation & Control Systems
WOS类目	Automation & Control Systems
WOS记录号	WOS:000217823500011
出版者	Inderscience Publishers
EI入藏号	20102112953887
EI主题词	Swarm intelligence
EI分类号	716.1 Information Theory and Signal Processing - 723 Computer Software, Data Handling and Applications - 731.3 Specific Variables Control - 731.5 Robotics - 912.2 Management
来源库	Compendex
分类代码	716.1 Information Theory and Signal Processing - 723 Computer Software, Data Handling and Applications - 731.3 Specific Variables Control - 731.5 Robotics - 912.2 Management
引用统计	无
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/111719
专题	兰州理工大学
作者单位	1.College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou 730050, China; 2.Complex System and Computational Intelligence Laboratory, Taiyuan University of Science and Technology, Taiyuan 030024, China
第一作者单位	兰州理工大学
第一作者的第一单位	兰州理工大学
推荐引用方式 GB/T 7714	Xue, Songdong,Zeng, Jianchao. Controlling swarm robots for target search in parallel and asynchronously[J]. International Journal of Modelling, Identification and Control,2009,8(4):353-360.
APA	Xue, Songdong,&Zeng, Jianchao.(2009).Controlling swarm robots for target search in parallel and asynchronously.International Journal of Modelling, Identification and Control,8(4),353-360.
MLA	Xue, Songdong,et al."Controlling swarm robots for target search in parallel and asynchronously".International Journal of Modelling, Identification and Control 8.4(2009):353-360.