A hybrid of modified PSO and local search on a multi-robot search system

Rastgoo, Mohammad Naim, Nakisa, Bahareh, & Zakree Ahmad Nazri, Mohd (2015) A hybrid of modified PSO and local search on a multi-robot search system. International Journal of Advanced Robotic Systems, 12(86).

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Abstract

Particle swarm optimization (PSO), a new population based algorithm, has recently been used on multi-robot systems. Although this algorithm is applied to solve many optimization problems as well as multi-robot systems, it has some drawbacks when it is applied on multi-robot search systems to find a target in a search space containing big static obstacles. One of these defects is premature convergence. This means that one of the properties of basic PSO is that when particles are spread in a search space, as time increases they tend to converge in a small area. This shortcoming is also evident on a multi-robot search system, particularly when there are big static obstacles in the search space that prevent the robots from finding the target easily; therefore, as time increases, based on this property they converge to a small area that may not contain the target and become entrapped in that area.Another shortcoming is that basic PSO cannot guarantee the global convergence of the algorithm. In other words, initially particles explore different areas, but in some cases they are not good at exploiting promising areas, which will increase the search time.This study proposes a method based on the particle swarm optimization (PSO) technique on a multi-robot system to find a target in a search space containing big static obstacles. This method is not only able to overcome the premature convergence problem but also establishes an efficient balance between exploration and exploitation and guarantees global convergence, reducing the search time by combining with a local search method, such as A-star.To validate the effectiveness and usefulness of algorithms,a simulation environment has been developed for conducting simulation-based experiments in different scenarios and for reporting experimental results. These experimental results have demonstrated that the proposed method is able to overcome the premature convergence problem and guarantee global convergence.

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ID Code: 85242
Item Type: Journal Article
Refereed: Yes
Keywords: Particle swarm optimization (PSO), multi-robot search system, premature convergence problem, exploration and exploitation
DOI: 10.5772/60624
ISSN: 1729-8806
Divisions: Current > Schools > School of Information Systems
Past > Schools > School of Information Technology
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2015 Author(s). Licensee InTech.
Copyright Statement: This is an open access article distributed under the terms of the Creative Commons Attribution License
(http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the
original work is properly cited.
Deposited On: 09 Jul 2015 22:42
Last Modified: 12 Jul 2015 23:29

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