Particle Swarm Optimization Algorithm for finding the brightest spot in an arena

摘要

Particle Swarm Optimization (PSO) algorithm is widely used in Robotic search applications. This paper proposes a PSO algorithm to locate the brightest spot in a given search space using a swarm of robots. Each robot of the swarm acts as a particle in PSO; each particle updates its position, velocity, personal best location and personal best cost measurement based on the light intensity at any position till it reaches its target. The robots communicate the measured light intensity and its position with each other. The position of robots is obtained using ArUco markers with the help of an overhead camera. An ultrasonic sensor is interfaced with the robots for static and dynamic obstacle avoidance. Simulation of the PSO algorithm is implemented using MATLAB software.