An Unknown Environment Exploration Strategy for Swarm Robotics Based on Brain Storm Optimization Algorithm

Li, Gao; Zhang, Dabu; Shi, Yuhui

10.1109/CEC.2019.8789994

2019

978-1-7281-2154-3

2019 IEEE Congress on Evolutionary Computation, CEC 2019

1044-1051

10-13 June 2019

Wellington, New zealand

345 E 47TH ST, NEW YORK, NY 10017 USA

Institute of Electrical and Electronics Engineers Inc.

In this paper, a distributed algorithm used to solve the swarm robotic exploration problem with communication constraint conditions is proposed. The swarm robotics exploration problem is represented as an optimization problem in this paper, and a modified Brain Storm Optimization algorithm is utilized to solve this problem. This swarm robotic exploration algorithm has several advantages compared to traditional strategies. Firstly, it is fully decentralized, which suits for swarm robotic application. What is more, it is easy to combine this algorithm with many existing frontier-based exploration methods to improve robots' cooperation ability. Finally, the proposed method has been tested in several different simulation environments, and the experimental results demonstrate its advantages over other approaches.
© 2019 IEEE.

swarm robotics exploration communication constraints brain storm optimization

第一 ; 通讯

英语

EI ; CPCI-S

Science and Technology Innovation Committee Foundation of Shenzhen[ZDSYS201703031748284]

Engineering ; Mathematical & Computational Biology

Engineering, Electrical & Electronic ; Mathematical & Computational Biology

WOS:000502087101008

20193507373940

Evolutionary algorithms ; Natural resources exploration ; Optimization ; Robotics ; Storms

Precipitation:443.3 ; Robotics:731.5 ; Optimization Techniques:921.5

EV Compendex

Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen, China

Li, Gao,Zhang, Dabu,Shi, Yuhui. An Unknown Environment Exploration Strategy for Swarm Robotics Based on Brain Storm Optimization Algorithm[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:Institute of Electrical and Electronics Engineers Inc.,2019:1044-1051.