Title: Swarm robots search based on artificial physics optimisation algorithm

Authors: Liping Xie; Gangjun Yang; Jianchao Zeng; Zhihua Cui

Addresses: Complex System and Computational Intelligence Laboratory, Taiyuan University of Science and Technology, No. 66 Waliu Road, Wanbailin District, Taiyuan, Shanxi, 030024, China ' Complex System and Computational Intelligence Laboratory, Taiyuan University of Science and Technology, No. 66 Waliu Road, Wanbailin District, Taiyuan, Shanxi, 030024, China ' Complex System and Computational Intelligence Laboratory, Taiyuan University of Science and Technology, No. 66 Waliu Road, Wanbailin District, Taiyuan, Shanxi, 030024, China ' Complex System and Computational Intelligence Laboratory, Taiyuan University of Science and Technology, No. 66 Waliu Road, Wanbailin District, Taiyuan, Shanxi, 030024, China

Abstract: Swarm robotics is an important research area of swarm intelligence. Swarm robots searching potential target provides a better way in victim search or rescue operations in some disaster scenarios. This paper uses artificial physics optimisation (APO) algorithm as the modelling tool for solving swarm robots searching problem. Firstly, viewed as an individual moving in a closed two-dimensional workspace, each robot is abstracted as one order inertial element. Further, the model of swarm robots search for target with global sense based on APO algorithm is given, in which the virtual force law among robots is constructed through referring the attraction-repulsion rule of APO. Simulation results under an ideal environment show that APO is a feasible and effective when applied to swarm robotic search for target with global sense.

Keywords: artificial physics optimisation; APO; physicomimetics; virtual force; swarm robotics; target search; swarm intelligence; modelling; simulation; emergency response; disaster management; emergency management; swarm robots; victim search; rescue operations; robot control; multi-robot systems.

DOI: 10.1504/IJCSM.2013.054684

International Journal of Computing Science and Mathematics, 2013 Vol.4 No.1, pp.62 - 71

Received: 20 Mar 2013
Accepted: 23 Mar 2013

Published online: 10 May 2014 *

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