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Multi robot distance based formation using Parallel Genetic Algorithm

López-González, A. ; Meda Campaña, J.A. ; Hernández Martínez, E.G. ; Contro, P. Paniagua

Applied soft computing, 2020-01, Vol.86, p.105929, Article 105929 [Periódico revisado por pares]

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Título:
Multi robot distance based formation using Parallel Genetic Algorithm
Autor: López-González, A. ; Meda Campaña, J.A. ; Hernández Martínez, E.G. ; Contro, P. Paniagua
Assuntos: Consensus ; Distributed Artificial Intelligence ; Formation ; Multi robot ; Parallel Genetic Algorithm
É parte de: Applied soft computing, 2020-01, Vol.86, p.105929, Article 105929
Descrição: In this paper an alternative method to achieve distance based formation is presented. The method uses Genetic Algorithms to find a suitable solution based on angle and distance, and an appropriate constant velocity to avoid collisions. The designed algorithm is extended to a parallel scheme to improve its performance and achieve Artificial Distributed Intelligence, in which the robots share, through solution migration, the best ways to converge to desired distances while avoiding collisions, finally reaching consensus on the solution. The algorithm is tested using simulations and real robots experiments. •A method to achieve distance based formation using GA is presented.•The parallel algorithm achieves Artificial Distributed Intelligence.•The designed algorithm avoids inter robot collisions.•The algorithm is tested using simulations and real robots experiments.•Experiments show the use of the algorithm to coordinate the movements of MRS.
Editor: Elsevier B.V
Idioma: Inglês

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