Campus Units

Electrical and Computer Engineering, Materials Science and Engineering, Mechanical Engineering, Human Computer Interaction, Virtual Reality Applications Center

Document Type

Conference Proceeding

Conference

56th AIAA/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference

Publication Version

Accepted Manuscript

Link to Published Version

https://dx.doi.org/10.2514/6.2015-0897

Publication Date

2015

Journal or Book Title

56th AIAA/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference

First Page

2015-0897

DOI

10.2514/6.2015-0897

Conference Title

56th AIAA/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference

Conference Date

January 5-9, 2015

City

Kissimmee, FL

Abstract

In this paper, we explore the implementation of standard particle swarm optimization (SPSO) on a swarm of physical mobile robots conducting a source seeking task. The signal source is electromagnetic, whose strength is non-differentiable at many points making most gradient based source seeking strategies ineffective in this scenario. We analyze the physical limitations of the robots and modify SPSO accordingly to make them compatible with each other. We also compare different SPSO topology models to determine the one best suited for our problem. Finally, we incorporate obstacle avoidance strategies into PSO, and compare the performance of original PSO, SPSO 2006 and SPSO 2011 in a complex environment with obstacles. Simulation results demonstrate the efficacy of implementing SPSO to robot source seeking problem. Moreover, it is shown that SPSO 2011 is not only superior as an optimization method, but also provides better performance in robotic implementation compared to SPSO 2006 and original PSO.

Comments

This is a manuscript of a proceeding published as Rui Zou, Vijay K. Kalivarapu, Sourabh Bhattacharya, Eliot H. Winer, and James Oliver. (2015) "Standard Particle Swarm Optimization on Source Seeking Using Mobile Robots", 56th AIAA/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, AIAA SciTech Forum, (AIAA 2015-0897). DOI: 10.2514/6.2015-0897. Posted with permission.

Copyright Owner

The Authors

Language

en

File Format

application/pdf

Published Version

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Article Location

 
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