Navigation of Mobile Sensors Using PSO and Embedded PSO in a Fuzzy Logic Controller

Ganesh K. Venayagamoorthy, Missouri University of Science and Technology
Sheetal Doctor

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This paper presents novel structures for optimization and communication of a swarm of mobile sensors or robots for maximizing local and global tasks such as firefighting, landmine detection, radioactivity detection, etc. The navigation of the sensors is carried out using two strategies. The first strategy is based on particle swarm optimization (PSO) and the second strategy is based on a swarm of fuzzy logic based controllers. In addition, the membership functions and the rules of the fuzzy logic controller (FLC) are optimized using the PSO algorithm. Navigation of mobile sensors is considered in this paper to locate desirable target sources in a given sensing area. Both approaches presented do not depend on the number of target sources. Results are provided for target locations based on a PSO, a swarm of fuzzy logic controllers and a swarm of optimized fuzzy logic controllers.