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Presentation
Standard Particle Swarm Optimization on Source Seeking Using Mobile Robots
56th AIAA/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference
  • Rui Zou, Iowa State University
  • Vijay K. Kalivarapu, Iowa State University
  • Sourabh Bhattacharya, Iowa State University
  • Eliot H. Winer, Iowa State University
  • James H. Oliver, Iowa State University
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
1-1-2015
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
Geolocation
(28.2919557, -81.40757099999996)
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
Citation Information
Rui Zou, Vijay K. Kalivarapu, Sourabh Bhattacharya, Eliot H. Winer, et al.. "Standard Particle Swarm Optimization on Source Seeking Using Mobile Robots" Kissimmee, FL56th AIAA/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference (2015) p. 2015-0897
Available at: http://works.bepress.com/vijay_kalivarapu/17/