Modified Particle Swarm Algorithm for Decentralized Swarm Agent

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Modified Particle Swarm Algorithm for
Decentralized Swarm Agent

• 2004 IEEE International Conference on Robotic and
  Biomimetics
• Dong H. Kim
• Seiichi Shin

9457515 ???
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Outline

• Introduction
• Swarm Model Description and Problem Statement
• Modified Particle Swarm Algorithm
• Simulation Examples
• Conclusion

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Introduction

• Self-organization in a swarm is the ability to
  distribute itself optimally for given task.
• Nonlinear oscillator (2000)
• Behavior-based intelligences
• Particle Swarm Optimization

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Environment and agent model
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Particle Swarm optimization

• Representation
• Objective function
• Velocity
• position

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Modified Particle Swarm Algorithm

• Velocity

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• Selection of pi
• Fixed target
• Moving target
• Selection of pg
• Fixed target
• Moving target

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• The relation between weighting factors and a
  moving target
• c3ltc4 leader
• c3gtc4 randomly

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Obstacle avoidance

• Fitness function

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• Penalty function

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Virtual zone
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Simulation Examples

• The comparison of the MPSA with and without

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• Migration to a moving target in the existence of
  obstacle

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Conclusion

• The paper presents a self-organization scheme
  based on the MPSA for decentralized swarm agents.
• This is a first attempt that the PSO concept is
  adapted to self-organization for swarm system.

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• QA