Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Introduction to Autonomous Mobile Robots
Introduction to Autonomous Mobile Robots
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An approach to control artificial swarm whose members are autonomous wheeled mobile robots is proposed, by applying Particle Swarm Optimization (PSO) to target search. First, swarm search is mapped to PSO based on similarities between the two cases. Then a distributed PSO-style algorithm is given, in which decision making on real inputs of linear and angular velocity of robot controller being explored. We obtain the required command sequences by constraining the computational expected velocities and positions with robot's non-holonomic properties in kinematics. In this way, swarm robots can work together cooperatively.