Qualitative analysis of using particle swarm optimization for multi robot agents in three dimensional space

In the field of multi robot systems, algorithms that control communication and movement of multi robot agents has became an interesting arena for researchers recently. A big challenge in this area is to design an effective algorithm which make multi robots to work as a team of robots to perform thei...

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Main Author:	Amanpour, Saeid
Format:	Thesis
Language:	English
Published:	2012
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/33402/5/SaeidAmanpourMFKE2012.pdf
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id	my-utm-ep.33402
record_format	uketd_dc
spelling	my-utm-ep.334022018-04-27T01:26:30Z Qualitative analysis of using particle swarm optimization for multi robot agents in three dimensional space 2012-07 Amanpour, Saeid TJ Mechanical engineering and machinery In the field of multi robot systems, algorithms that control communication and movement of multi robot agents has became an interesting arena for researchers recently. A big challenge in this area is to design an effective algorithm which make multi robots to work as a team of robots to perform their task and reach to their goal. In this article we use a Modified version of Particle Swarm Optimization Algorithm that is called MPSA. This algorithm allow us to use a virtual multi robot search to find optima in a three dimensional function space. The presented model has the advantages of being capable to change parameters and number of robots or agents, in order to improve the functionality of the multi agent system. In order to avoid collision with obstacles, we use the "leader follower" technique which can help to change the direction of swarm movement to avoid collision with obstacles while trying to get closer to their target. Simulation results show that with this algorithm, our team of robots can perform a swarm movement to reach the target while avoiding collision among themselves or with the obstacles that may be in the environment. 2012-07 Thesis http://eprints.utm.my/id/eprint/33402/ http://eprints.utm.my/id/eprint/33402/5/SaeidAmanpourMFKE2012.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Amanpour, Saeid Qualitative analysis of using particle swarm optimization for multi robot agents in three dimensional space
description	In the field of multi robot systems, algorithms that control communication and movement of multi robot agents has became an interesting arena for researchers recently. A big challenge in this area is to design an effective algorithm which make multi robots to work as a team of robots to perform their task and reach to their goal. In this article we use a Modified version of Particle Swarm Optimization Algorithm that is called MPSA. This algorithm allow us to use a virtual multi robot search to find optima in a three dimensional function space. The presented model has the advantages of being capable to change parameters and number of robots or agents, in order to improve the functionality of the multi agent system. In order to avoid collision with obstacles, we use the "leader follower" technique which can help to change the direction of swarm movement to avoid collision with obstacles while trying to get closer to their target. Simulation results show that with this algorithm, our team of robots can perform a swarm movement to reach the target while avoiding collision among themselves or with the obstacles that may be in the environment.
format	Thesis
qualification_level	Master's degree
author	Amanpour, Saeid
author_facet	Amanpour, Saeid
author_sort	Amanpour, Saeid
title	Qualitative analysis of using particle swarm optimization for multi robot agents in three dimensional space
title_short	Qualitative analysis of using particle swarm optimization for multi robot agents in three dimensional space
title_full	Qualitative analysis of using particle swarm optimization for multi robot agents in three dimensional space
title_fullStr	Qualitative analysis of using particle swarm optimization for multi robot agents in three dimensional space
title_full_unstemmed	Qualitative analysis of using particle swarm optimization for multi robot agents in three dimensional space
title_sort	qualitative analysis of using particle swarm optimization for multi robot agents in three dimensional space
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2012
url	http://eprints.utm.my/id/eprint/33402/5/SaeidAmanpourMFKE2012.pdf
_version_	1747816152541691904

Qualitative analysis of using particle swarm optimization for multi robot agents in three dimensional space

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