Otimização por Enxame de Partículas aplicado à formação e atuação de grupos robóticos

Abstract

In this paper it is described the modeling, implementation and evaluation of the Particle Swarm Optimization (PSO) efficiency when applied to robotic group formation and coordination. The robotic task is performed over a natural disaster, simulated as a forest fire. The robot squad mission is to surround the fire and avoid fire’s propagation. Experiments have been made with several parameter’s variation seeking to get the more efficient swarm performance. This paper describes all performed experiments detailing all sets of parameters, including positive and negative results. The simulation’s results showed that with an adequate set of parameters is possible to get satisfactory strategic positions for a multi-robotic system’s operation. Keywords: Particle Swarm Optimization, coordination, multi-robotics systems.