Particle Swarm Optimization—An Adaptation for the Control of Robotic Swarms

Particle Swarm Optimization (PSO) is a numerical optimization technique based on the motion of virtual particles within multidimensional space. The explore space in an attempt to find minima or maxima problem. linked, and overall behavior particle swarm controlled by several parameters. PSO has been proposed as control strategy for physical swarms robots that are localizing source; analogous particles. However, previous attempts achieve this have shown there inherent problems. This paper addresses these problems introducing modified version PSO, well new guidelines parameter selection. algorithm links parameters velocity acceleration each robot, demonstrates obstacle avoidance. Simulation results from both MATLAB Gazebo show close agreement demonstrate capable effective robotic