Mechanical PSO Aided by Extremum Seeking for Swarm Robots Cooperative Search

摘要: This paper addresses the issue of swarm robots cooperative search. A intelligence based algorithm, mechanical Particle Swarm Optimization (PSO), is first conducted which takes into account robot properties and guiding searching for a target. In order to avoid localization noise due feedback measurements, new scheme uses Extremum Seeking (ES) aid PSO designed. The ES method capable driving purposed states generated by without necessity localization. By this way, whole approaches searched target cooperatively. pilot study verified numerical experiments in different sensors are mimicked.