Distributed coordination is critical for a multi-robot system in collective cleanup task under a dynamic environment. In traditional methods, robots easily drop into premature convergence. In this paper, we propose a swarm-intelligence based algorithm to reduce the expectation time for searching targets and removing. We modify the traditional PSO algorithm with a random factor to tackle premature convergence problem, and it can achieve a significant improvement in multi-robot system. The proposed method has been implemented on self-developed simulator for searching task. The simulation results demonstrate the feasibility, robustness, and scalability of our proposed method than previous methods.
|Number of pages||6|
|Publication status||Published - 1 Jan 2013|
|Event||2013 International Joint Conference on Awareness Science and Technology, iCAST 2013 and 6th International Conference on Ubi-Media Computing, UMEDIA 2013 - Aizuwakamatsu, Japan|
Duration: 2 Nov 2013 → 4 Nov 2013
|Conference||2013 International Joint Conference on Awareness Science and Technology, iCAST 2013 and 6th International Conference on Ubi-Media Computing, UMEDIA 2013|
|Period||2/11/13 → 4/11/13|
ASJC Scopus subject areas