Title

Collective Robotic Search Using Hybrid Techniques: Fuzzy Logic and Swarm Intelligence Inspired by Nature

Abstract

This paper presents two new strategies for navigation of a swarm of robots for target/mission focused applications including landmine detection and firefighting. The first method presents an embedded fuzzy logic approach in the particle swarm optimization (PSO) algorithm robots and the second method presents a swarm of fuzzy logic controllers, one on each robot. The framework of both strategies has been inspired by natural swarms such as the school of fish or the flock of birds. In addition to the target search using the above methods, a hierarchy for the coordination of a swarm of robots has been proposed. The robustness of both strategies is evaluated for failures or loss in swarm members. Results are presented with both strategies and comparisons of their performance are carried out against a greedy search algorithm.

Department(s)

Electrical and Computer Engineering

Sponsor(s)

National Science Foundation (U.S.)
University of Missouri Research Board

Keywords and Phrases

Collective Robotic Search; Fuzzy Swarm; Greedy Search; Particle Swarm Optimization; Swarm Fuzzy

Library of Congress Subject Headings

Fuzzy logic
Swarm intelligence

Document Type

Article - Journal

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2009 Elsevier, All rights reserved.


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