A hybrid primal-dual-PSO (pdipmPSO) algorithm for swarm robotics flocking strategy

Emmanuel Gbenga Dada, E. Ramlan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a hybrid algorithm called Primal-Dual-PSO algorithm to address the problem of swarm robotics flocking motion. This algorithm combines the explorative ability of PSO with the exploitative capacity of the Primal Dual Interior Point Method. We hypothesize that the fusion of the two algorithms provides a strong probability of avoiding premature convergence, and also ensure that the robots are not trapped in their local minimal. Our simulation result provides a clear indication of the effectiveness of the algorithm. The hybrid algorithm performs better in terms of precision, rate of convergence, steadiness, robustness and flocking capability for homogenous set of swarm robots.

Original languageEnglish
Title of host publication2015 2nd International Conference on Computing Technology and Information Management, ICCTIM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages93-98
Number of pages6
ISBN (Electronic)9781479962112
DOIs
Publication statusPublished - 25 Aug 2015
Event2nd International Conference on Computing Technology and Information Management, ICCTIM 2015 - Johor, Malaysia
Duration: 21 Apr 201523 Apr 2015

Conference

Conference2nd International Conference on Computing Technology and Information Management, ICCTIM 2015
CountryMalaysia
CityJohor
Period21/04/1523/04/15

Keywords

  • gbest
  • Interior Point Method
  • lbest
  • Particle Swarm Optimization (PSO)
  • Primal-Dual

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    Dada, E. G., & Ramlan, E. (2015). A hybrid primal-dual-PSO (pdipmPSO) algorithm for swarm robotics flocking strategy. In 2015 2nd International Conference on Computing Technology and Information Management, ICCTIM 2015 (pp. 93-98). [7224599] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCTIM.2015.7224599