An Improved Cat Swarm Optimization for Heterogeneous Multiple Mobile Robots
At present,it is difficult to achieve the real homogeneity of the members of the multiple mobile robots.The existing swarm intelligence algorithm is also difficult to accommodate the heterogeneity of the team.Focusing on the heterogeneous cooperation of multiple mobile robots,the concept of mother and child robots is proposed.In order to realize the application of swarm intelligence algorithm in heterogeneous multiple mobile robots,the basic cat swarm algorithm is improved.The sub-domain and neighborhood of cat swarm are defined,and eight improvements of cat swarm algorithm are proposed,including priority of search direction,extended trajectory tracking of robot,attraction of search space and candidate search area.The experimental results show that the concept of mother-child robot can realize the target search of heterogeneous multiple mobile robots,and can contain the heterogeneity of team members and verify the applicability and effectiveness of the improved cat swarm algorithm.
multiple mobile robotscat swarm optimizationheterogeneoussub-domainsearch direction
NETL
NSTL
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