Target Position Estimation Aided Swarm Robotic Search under Conditions of Absolute Localization Mechanism
ZAN Yun-Long,XUE Song-Dong,ZENG Jian-Chao
Engineering Technology of Internet of Things Research Center,Computer Science and Technology School, Taiyuan University of Science and Technology,Taiyuan 030024
Abstract：When swarm robots are controlled cooperatively following the extended particle swarm optimization model for target search,each member robot is guided by social experience and its cognition to move step by step toward the potential goal. However,in this mechanism the social experience must be elected from the cognition of member robots rather than formal fusion. Wireless sensor network is a characteristic of swarm robotic system in aspect of physical properties,on the basis of that,a target position estimation method is employed. The range-based localization of wireless sensor network is used for target position estimation to replace social experience in the existing model. Results of simulations show that the proposed mode of social experience producing outperforms the existing ones when swarm scale is big enough,which makes cooperation search efficiency raised.
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2013, Vol. 26 
