Primal-Dual Asynchronous Particle Swarm Optimization (pdAPSO) Algorithm For Self-Organized Flocking of Swarm Robots
Journal Title: IOSR Journals (IOSR Journal of Computer Engineering) - Year 2016, Vol 18, Issue 6
Abstract
Abstract: This paper proposed a hybrid PSO algorithm that combines the Primal-Dual method with APSO algorithm to address the problem of swarm robotics flocking motion. This algorithm combines the explorative ability of APSO with the exploitative capacity of the Primal Dual Interior Point Method. We hypothesize that the fusion of the two algorithms (APSO and Primal Dual) offers a robust prospect of preventing prematureconvergence of robots, and also make sure that the robots are not stuck in their local minimal. We did a comparison of the performances of the total iteration for pdAPSO, PSO, APSO and Primal Dual algorithms asthe robots flock from the centre of the search space to the various zones (z1, z2, z3, and z4). In three (3) out of the four (4) cases, the pdAPSO proves to be more effective for the flocking of the robots than the PSO, APSO and Primal Dual algorithms for the fifty (50) simulations that was done. The results of our simulation gives a clear evidence of the efficacy of the pdAPSO algorithms. The hybrid algorithm contributed to the field of swarm robotics by providing novel algorithm that possess a flocking capability attained under suitable parameter values that is relatively robust and produces effective self-organized flocking in constrained environments.
Authors and Affiliations
Emmanuel Gbenga Dada
Keywords
Related Articles
- EP ID EP154518
- DOI -
- Views 133
- Downloads 0
Uncompressed Image Steganography using BPCS: Survey and Analysis
Steganography is the art and science of hide secret information in some carrier data without leaving any apparent evidence of data alternation. In the past, people use hidden tattoos, invisible ink or punching on...
Enhancement of Dynamic Load Balancing Using Particle Swarm Algorithm in Cloud Environment
Abstract: Dynamic load balancing with decentralized load balancer using PSO technique: Cloud consists of multiple resources and various clients request to the cloud for allocation of shared resources. Each request will b...
High Accuracy Detection and Tracking of Objects
One of the critical tasks in Computer Vision is Detection and Tracking of objects. But still now, the issues related to this are developing. For the automatic detection of moving objects, some of the monitoring s...
Adaptive Steganography Based Enhanced Cipher HidingTechnique for Secure Data Transfer
Abstract:There have been enormous number of attacks recorded during electronic transmission of informationbetween the source and intended receiver and indeed this has called for a more robust and efficient method f...
Big data
Abstract: Big data refers to huge chunks of data that are very large and complex for it to be processed or analyzed by traditional methods. Initially, this enormous amounts of data brought about major challenges concerni...