一种适用于多机器人搜索动态目标的改进粒子群算法

被引:9
作者
刘军梅
龚朝晖
侯运锋
机构
[1] 上海理工大学光电信息与计算机工程学院
关键词
机器人; 动态目标; 通信; 粒子群算法; 牛顿法;
D O I
暂无
中图分类号
TP18 [人工智能理论]; TP242 [机器人];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ; 1111 ;
摘要
粒子群算法引导机器人搜索跟踪动态目标时,在迭代后期易出现收敛停滞现象。为了改善上述情况,提出了结合牛顿法的改进粒子群算法。为了结合粒子群算法与牛顿法,在算法中引入了马尔可夫链,这使得机器人在每一次迭代时以一定的概率随机选择牛顿法或粒子群算法搜索跟踪目标。为了模拟机器人搜索动态目标的真实环境,还利用了通信项使机器人以一定的方式努力与基站保持通信,用来实时更新目标信息。仿真结果表明,改进的粒子群算法能有效地寻找并跟踪动态目标。
引用
收藏
页码:1046 / 1051+1061 +1061
页数:7
相关论文
共 32 条
[1]  
The method of successive approximation for functional equations[J] . L. Kantorovitch. &nbspActa Mathematica . 1939 (1)
[2]  
The Newton-Raphson method[J] . Johan Verbeke,Ronald Cools. &nbspInternational Journal of Mathematical Education in Science and Technology . 1995 (2)
[3]  
A study of particle swarm optimization particle trajectories[J] . F. van den Bergh,A.P. Engelbrecht. &nbspInformation Sciences . 2005 (8)
[4]  
Understanding the communication complexity of the robotic Darwinian PSO[J] . Micael S. Couceiro,Amadeu Fernandes,Rui P. Rocha,Nuno M. F. Ferreira. &nbspRobotica . 2014 (1)
[5]  
A PSO-based multi-robot cooperation method for target searching in unknown environments[J] . Masoud Dadgar,Shahram Jafari,Ali Hamzeh. &nbspNeurocomputing . 2015
[6]  
A potential field-based PSO approach for cooperative target searching of multi-robots. Cai Yifan,Yang S X. Proc of the 11th World Congress on Intelligent Control and Automation . 2015
[7]  
Multi-robot search and rescue team. Luo Cai,Espinosa A P,Pranantha D,et al. Proc of IEEE International Symposium on Safety,Security,and Rescue Robotics . 2011
[8]  
A short history of Newton’’s method. Deuflhard P. Proc of Documenta Mathemtica . 2012
[9]  
On convergence of Newton’’s method. Ali M Z,Rahman M M. Annual Bulletin of the Research Institute of Management&Information Science Shikoku University . 2002
[10]  
On Newton’’s method for functional equations. Kantoroviˇc L V. Doklady Akademii Nauk Rossiiskaia Akademii Nauk . 1948