Group Decision Making Aided PSO-type Swarm Robotic Search

Abstract

The information of at least three nodes can be used for node or target localization within wireless sensor network (WSN) with received signal strength indicator (RSSI) method. This mechanism of group decision making was integrated with swarm robotic search for time saving, for the communication system of swarm robots essentially formed a WSN. Following the extented particle swarm optimization (EPSO)-based model, each robot was guided by its own cognition and social experience about target position in the environment at each time step. Both of them were individual experience of certain robot. We modified this model by replacing the social term with the estimation value of target position. Result from simulations show that the proposed GDMEPSO model dominates over EPSO when swarm size was big enough.