Target searching and tracking using a swarm of robots is a classical problem in the domain of robotics. The cooperation among the swarm robots has got increasing attention lately due to the different versions of the problem and complex environment. In this paper, a centralized control algorithm is proposed which utilizes cooperation among the swarm of robots for searching and tracking targets which is the velocity inspired robotic fruit fly algorithm (VRFA). The particle velocity concept of the particle swarm optimization is added to the fruit fly algorithm to improve the parameters such as local extremum and low convergence. The simulation results of the proposed technique in different scenarios demonstrate the effectiveness of the algorithm and its ability to keep tracking the targets until the exit condition matched. At last, the simulation result is shown with different environments and parameter settings.
Cooperative Multi-robot Target Searching and Tracking Using Velocity Inspired Robotic Fruit Fly Algorithm
SN COMPUT. SCI.
SN Computer Science ; 2 , 6
01.11.2021
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Target tracking , Swarm intelligence , Target searching , Cooperation , VRFA , Intelligent search , Fruit fly optimization Software Engineering/Programming and Operating Systems , Computer Science, general , Computer Systems Organization and Communication Networks , Computer Science , Information Systems and Communication Service , Data Structures and Information Theory , Computer Imaging, Vision, Pattern Recognition and Graphics
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