A potential field-based PSO approach to multi-robot cooperation for target search and hunting

2017 ◽  
Vol 65 (12) ◽  
Author(s):  
Xiang Cao ◽  
Changyin Sun
Keyword(s):  
Particle Swarm Optimization ◽  
Potential Field ◽  
Fitness Function ◽  
Particle Swarm ◽  
Swarm Optimization ◽  
Target Search ◽  
Field Function ◽  
Simulation Results ◽  
Robot Cooperation ◽  
Multi Robot

AbstractThe control design of target search and hunting using multi-robot remains a challenge in recent years. In this paper, we propose a control algorithm of multi-robot for target search and hunting inspired by potential field-based particle swarm optimization (PPSO). Firstly, a potential field function is established according to the initial positions of the obstacles, un-search area and targets. Then, the fitness function of PSO's (particle swarm optimization) is determined by the potential function of the work area. Lastly, multi-robot start performing target search and hunting missions driven by the proposed PPSO algorithm. Simulation results demonstrate that the PPSO algorithm is applicable and feasible for multi-robot cooperation to search and hunting targets. Compared with other commonly used methods for control of multi-robot, simulation results indicate that the PPSO algorithm has more stability and higher efficiency.

scholarly journals Estimation of Fuzzy Parameters in the Linear Muskingum Model with the Aid of Particle Swarm Optimization

2021 ◽  
Vol 13 (13) ◽  
pp. 7152
Author(s):  
Mike Spiliotis ◽  
Alvaro Sordo-Ward ◽  
Luis Garrote
Keyword(s):  
Particle Swarm Optimization ◽  
Fitness Function ◽  
Particle Swarm ◽  
Flood Routing ◽  
Performance Criteria ◽  
Extension Principle ◽  
Swarm Optimization ◽  
Muskingum Model ◽  
Muskingum Method ◽  
Fuzzy Parameters

The Muskingum method is one of the widely used methods for lumped flood routing in natural rivers. Calibration of its parameters remains an active challenge for the researchers. The task has been mostly addressed by using crisp numbers, but fuzzy seems a reasonable alternative to account for parameter uncertainty. In this work, a fuzzy Muskingum model is proposed where the assessment of the outflow as a fuzzy quantity is based on the crisp linear Muskingum method but with fuzzy parameters as inputs. This calculation can be achieved based on the extension principle of the fuzzy sets and logic. The critical point is the calibration of the proposed fuzzy extension of the Muskingum method. Due to complexity of the model, the particle swarm optimization (PSO) method is used to enable the use of a simulation process for each possible solution that composes the swarm. A weighted sum of several performance criteria is used as the fitness function of the PSO. The function accounts for the inclusive constraints (the property that the data must be included within the produced fuzzy band) and for the magnitude of the fuzzy band, since large uncertainty may render the model non-functional. Four case studies from the references are used to benchmark the proposed method, including smooth, double, and non-smooth data and a complex, real case study that shows the advantages of the approach. The use of fuzzy parameters is closer to the uncertain nature of the problem. The new methodology increases the reliability of the prediction. Furthermore, the produced fuzzy band can include, to a significant degree, the observed data and the output of the existent crisp methodologies even if they include more complex assumptions.

Study on Vehicle Logistics Routing Path Problem with Time Windows Based on Particle Swarm Optimization

2014 ◽  
Vol 687-691 ◽  
pp. 5161-5164
Author(s):  
Lian Zhou Gao
Keyword(s):  
Particle Swarm Optimization ◽  
World Economy ◽  
Time Window ◽  
Time Windows ◽  
Particle Swarm ◽  
Modern Logistics ◽  
Swarm Optimization ◽  
Logistics Industry ◽  
Search Speed ◽  
Simulation Results

As the development of world economy, how to realize the reasonable vehicle logistics routing path problem with time window constrain is the key issue in promoting the prosperity and development of modern logistics industry. Through the research of vehicle logistics routing path 's demand, particle swarm optimization with a novel particle presentation is designed to solve the problem which is improved, effective and adept to the normal vehicle logistics routing. The simulation results of example indicate that the algorithm has more search speed and stronger optimization ability.

Method of Optimization for Target Localization Model Parameters Based on LSSVR

2011 ◽  
Vol 268-270 ◽  
pp. 934-939
Author(s):  
Xue Wen He ◽  
Gui Xiong Liu ◽  
Hai Bing Zhu ◽  
Xiao Ping Zhang
Keyword(s):  
Particle Swarm Optimization ◽  
Fitness Function ◽  
Particle Swarm ◽  
Parameters Optimization ◽  
Target Localization ◽  
Likelihood Method ◽  
Support Vector ◽  
Swarm Optimization ◽  
Localization Accuracy ◽  
Localization Method

Aiming at improving localization accuracy in Wireless Sensor Networks (WSN) based on Least Square Support Vector Regression (LSSVR), making LSSVR localization method more practicable, the mechanism of effects of the kernel function for target localization based on LSSVR is discussed based on the mathematical solution process of LSSVR localization method. A novel method of modeling parameters optimization for LSSVR model using particle swarm optimization is proposed. Construction method of fitness function for modeling parameters optimization is researched. In addition, the characteristics of particle swarm parameters optimization are analyzed. The computational complexity of parameters optimization is taken into consideration comprehensively. Experiments of target localization based on CC2430 show that localization accuracy using LSSVR method with modeling parameters optimization increased by 23%~36% in compare with the maximum likelihood method(MLE) and the localization error is close to the minimum with different LSSVR modeling parameters. Experimental results show that adapting a reasonable fitness function for modeling parameters optimization using particle swarm optimization could enhance the anti-noise ability significantly and improve the LSSVR localization performance.

scholarly journals Performance of Resource Allocation in Device-to-Device Communication Systems Based on Evolutionally Optimization Algorithms

2018 ◽  
Author(s):  
Hsu-Tan Tan ◽  
Bor-An Chen ◽  
Yung-Fa Huang
Keyword(s):  
Particle Swarm Optimization ◽  
Evolutionary Algorithms ◽  
Communication Systems ◽  
Particle Swarm ◽  
Optimal Solution ◽  
System Capacity ◽  
Swarm Optimization ◽  
Device To Device ◽  
Simulation Results ◽  
Capacity Performance

In this study, the resource blocks (RB) are allocated to user equipment (UE) according to the evolutional algorithms for long term evolution (LTE) systems. Particle Swarm Optimization (PSO) algorithm is one of the evolutionary algorithms, based on the imitation of a flock of birds foraging behavior through learning and grouping the best experience. In previous work, the Simple Particle Swarm Optimization (SPSO) algorithm was proposed for RB allocation to enhance the throughput of Device-to-Device (D2D) communications and improve the system capacity performance. In simulation results, with less population size of M = 10, the SPSO can perform quickly convergence to sub-optimal solution in the 100th generation and obtained sub-optimum performance with more 2 UEs than the Rand method. Genetic algorithm (GA) is one of the evolutionary algorithms, based on Darwinian models of natural selection and evolution. Therefore, we further proposed a Refined PSO (RPSO) and a novel GA to enhance the throughput of UEs and to improve the system capacity performance. Simulation results show that the proposed GA with 100 populations, in 200 generations can converge to suboptimal solutions. Therefore, with comparing with the SPSO algorithm the proposed GA and RPSO can improve system capacity performance with 1.8 and 0.4 UEs, respectively.

Particle Swarm Optimization based Multihop Routing Techniques in Mobile ADHOC Networks

2020 ◽  
pp. 47-56
Author(s):  
M. Ilayaraja ◽  
Keyword(s):  
Particle Swarm Optimization ◽  
Fitness Function ◽  
Multipath Routing ◽  
Particle Swarm ◽  
Mobile Nodes ◽  
Energy Aware ◽  
Swarm Optimization ◽  
Mobile Adhoc Network ◽  
Manet Routing ◽  
Routing Techniques

Mobile adhoc network (MANET) comprises a network of mobile nodes, which communicates with one another through wireless connections. Reliability, energy efficiency, congestion control and interferences are the problems faced with the traditional routing protocols in MANET. Routing defines the process of identifying the optimal paths between two nodes in the network. For resolving these issues, several multipath routing techniques have been presented. This paper assesses the performance of the two bio-inspired multipath routing techniques namely Energy-Aware Multipath Routing Scheme based on particle swarm optimization (EMPSO) and PSO with fitness function (PSO-FF) algorithms. These two algorithms are compared and the results are investigated under several performance measures. The simulation results stated that the PSO-FF algorithm has shown better results over the EMPSO algorithm under several measures.

Convergence Analysis of Particle Swarm Optimization via Illustration Styles

2021 ◽  
pp. 29-37
Author(s):  
Wei-Der Chang ◽  
Keyword(s):  
Particle Swarm Optimization ◽  
Convergence Analysis ◽  
Optimization Problem ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Function Optimization ◽  
Evolutionary Computations ◽  
Swarm Optimization ◽  
Simulation Results ◽  
Population Based Algorithm

Particle swarm optimization (PSO) is the most important and popular algorithm to solving the engineering optimization problem due to its simple updating formulas and excellent searching capacity. This algorithm is one of evolutionary computations and is also a population-based algorithm. Traditionally, to demonstrate the convergence analysis of the PSO algorithm or its related variations, simulation results in a numerical presentation are often given. This way may be unclear or unsuitable for some particular cases. Hence, this paper will adopt the illustration styles instead of numeric simulation results to more clearly clarify the convergence behavior of the algorithm. In addition, it is well known that three parameters used in the algorithm, i.e., the inertia weight w, position constants c1 and c2, sufficiently dominate the whole searching performance. The influence of these parameter settings on the algorithm convergence will be considered and examined via a simple two-dimensional function optimization problem. All simulation results are displayed using a series of illustrations with respect to various iteration numbers. Finally, some simple rules on how to suitably assign these parameters are also suggested

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