Title: The model of swarm robots search with local sense based on artificial physics optimisation

Authors: Liping Xie; Gangjun Yang; Jianchao Zeng

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

Abstract: Swarm robots search is an effective method for rescue operation and victim search in some disaster. Due to robot's limited sensing capability in practical applications, time-varying sense domain is introduced to denote robot's dynamic neighbourhood structure. Artificial physics optimisation (APO) algorithm is used to construct the model of swarm robots system. Then, the model of swarm robotic search for target with local sense based on APO is proposed, which include robot's mass function designing, force definition and the cooperative control strategy description. Simulation results under an ideal environment show that APO algorithm is feasible and effective when applied to swarm robotic search for target with local sense.

Keywords: artificial physics optimisation; APO; physicomimetics; virtual force; swarm robotics; target search; local sense; modelling; swarm robots; rescue operations; victim search; disaster response; emergency management; time-varying sense domain; dynamic neighbourhood structure; cooperative control; multiple robots; robot control; simulation; robot sensing.

DOI: 10.1504/IJCSM.2013.057249

International Journal of Computing Science and Mathematics, 2013 Vol.4 No.3, pp.222 - 230

Received: 18 Apr 2013
Accepted: 29 Apr 2013
Published online: 10 May 2014 *

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