Saturday, June 15, 2013

Implementation of PSO Algorithm in Robot(Lejos Nxt)


Many research in robotics area to find path using different bio-inspired algorithms are conducted recently. Despite many researches are limited to the simulation result. This project tries to verify the robustness of Particle Swarm Optimization (PSO) algorithm in the real-world implementation. PSO optimizes a problem by having a population of candidate solutions, and moving these particles around in the search-space according to simple mathematical formula over the particle's position and velocity. In this project we are implementing PSO algorithm with some modification in robotics. We conducted many experiments with different number of robots and different number of destination too. The result verifies that PSO is technically sound for real-world problems of path finding even in the presence of obstacles.