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Aerospace Instrument-Making

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EFFICIENCY OF A MODIFIED PARTICLE SWARM ALGORITHM IN A GROUP ROBOTICS PROBLEM WITH OBSTACLES
Kang Liang, A.P. Karpenko

The paper proposed modifications of the PSO + global optimization algorithm, which is based on the particle swarm canonical algorithm (PSO). The PSO + algorithm is intended for solving group robotics problems that reduce to the localization of the global extremum of a certain scalar objective function under conditions where there are no obstacles to the movement of robots. The modifications of the PSO + algorithm proposed in this paper take into account the possibility that such obstacles exist. The aim of the work is to study the effect of obstacles on the efficiency of the modified PSO + algorithm. We consider two variants of the problem: there is a priori information about the locations and sizes of obstacles; the specified prior information is missing.
Keywords: group robotics, modified particle swarm optimization algorithm, global optimization.


DOI: 10.25791/aviakosmos.07.2019.756

Contacts: E-mail kangliang@sspu.edu.cn, E-mail: apkarpenko@mail.ru

Pp. 44-55.

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