# Modified Particle Swarm Algorithm

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15 Νοε 2013 (πριν από 4 χρόνια και 8 μήνες)

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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

Outline

Introduction

Swarm Model Description and Problem Statement

Modified Particle Swarm Algorithm

Simulation Examples

Conclusion

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

Environment and agent model

Particle Swarm optimization

Representation

Objective function

Velocity

position

T
i
i
i
x
x
x
2
1
,

2
))
(
)
(
(
)
(
k
x
k
x
k
F
i
d
i

))
(
)
(
()(
))
(
)
(
()(
)
(
)
1
(
3
2
1
k
x
k
p
rand
c
k
x
k
p
rand
c
k
v
c
k
v
i
g
i
i
i
i

)
(
)
(
)
1
(
k
v
k
x
k
x
i
i
i

Modified Particle Swarm Algorithm

Velocity

otherwise
k
x
k
p
rand
c
k
w
k
p
k
x
if
k
x
k
x
rand
c
k
w
k
w
k
w
k
x
k
p
rand
c
k
v
c
k
v
i
g
g
i
g
i
i
d
d
i
i
i
i
i
i
i

)),
(
)
(
()(
)
(
)
(
)
(

)),
(
)
(
()(
)
(
)
(
,
where
)
(
))
(
)
(
()(
)
(
)
1
(
3
4
2
1

Selection of
p
i

Fixed target

Moving target

Selection of
p
g

Fixed target

Moving target

The relation between weighting factors and a
moving target

c
3
<c
4

c
3
>c
4
: randomly

Obstacle avoidance

Fitness function

j
N
j
j
i
i
d
i
P
x
x
F
2
)
(

Penalty function

2
1
|
|
p
n
i
j
p
j
i
c
x
o
c
P

Virtual zone

)
(
)
(
j
i
o
j
i
d
i
i
x
x
r
x
x
r
x
x

Simulation Examples

The comparison of the MPSA with and without

)
(
k
w
d
i

Migration to a moving target in the existence of obstacle

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