Dynamical Search and Guidance of Swarm Rotors with Particle Swarm Optimization Algorithm(I)

This is a three-year term project, where the particle swarm optimization (PSO) algorithm is utilized for swarm-robot systems. The goals of this project include swarm single/multiple searching, cooperative movement, and dynamic searching and guidance. The topics of concern consist of the study of swarm theory, mobile robot design and implementation, static/dynamic target searching and guidance. In the swarm theory, not only the simple PSO algorithm will be discussed, but also a randomly searching mechanism will be introduced to avoid premature convergence in local optima in a dynamical varying environment. Stochastic adaptive PSO has the advantages that few parameters are required to be tuned and the re-searching ability is significantly improved. To evaluate the feasibility of the proposed distributed control scheme, a self-design and –implement swarm robot system will be discussed. It is optimistic to see that that the research results will make progress for the intelligent evolutionary computation.

Project ID:PB9709-4331
External Project ID:NSC97-2221-E182-026