Cooperative Control System of Multiple Mobile Robots Using Particle Swarm Optimization with Obstacle Avoidance for Tracking Target

Abstract

In this paper, we propose a cooperative control system with obstacle avoidance for multiple mobile robots using particle swarm optimization (PSO) in an unknown environment to perform tasks that are difficult for a single robot to accomplish. The problem considered in this paper is the exploration of an unknown environment with the goal of finding and tracking targets using multiple mobile robots. The mobile robots only have basic information about the position of other mobile robots and the relative distances between mobile robots and target. PSO has been demonstrated to be a useful algorithm for tracking target applications for multiple mobile robots in unknown environments. The experimental results demonstrate the validity of the proposed cooperative control system with obstacle avoidance of multiple mobile robots that track targets.