Campus Units
Mechanical Engineering, Electrical and Computer Engineering, Materials Science and Engineering, Human Computer Interaction, Virtual Reality Applications Center
Document Type
Article
Conference
AIAA SciTech Forum
Publication Version
Accepted Manuscript
Link to Published Version
https://dx.doi.org/10.2514/6.2015-0897
Publication Date
2015
Journal or Book Title
Proceedings of the 56th AIAA/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference
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.
Copyright Owner
The Authors
Copyright Date
2015
Language
en
File Format
application/pdf
Recommended Citation
Zou, Rui; Kalivarapu, Vijay K.; Bhattacharya, Sourabh; Winer, Eliot H.; and Oliver, James H., "Standard Particle Swarm Optimization on Source Seeking Using Mobile Robots" (2015). Mechanical Engineering Conference Presentations, Papers, and Proceedings. 190.
https://lib.dr.iastate.edu/me_conf/190
Included in
Aeronautical Vehicles Commons, Electro-Mechanical Systems Commons, Navigation, Guidance, Control and Dynamics Commons, Robotics Commons, Signal Processing Commons
Comments
This is a manuscript of a proceeding published as Zou, Rui, Vijay Kalivarapu, E. Winer, J. Oliver, and S. Bhattacharya. "Standard particle swarm optimization on source seeking using mobile robots." In Proc. 56th AIAA/ASCE/AHS/ASC Structures, Structural Dynamics, Materials Conf., pp. 1-11. 2015. doi: 10.2514/6.2015-0897. Posted with permission.