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Heterogeneous Swarms for Maritime Dynamic Target Search and Tracking

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Document pages: 8 pages

Abstract: Current strategies employed for maritime target search and tracking areprimarily based on the use of agents following a predetermined path to performa systematic sweep of a search area. Recently, dynamic Particle SwarmOptimization (PSO) algorithms have been used together with swarming multi-robotsystems (MRS), giving search and tracking solutions the added properties ofrobustness, scalability, and flexibility. Swarming MRS also give the end-userthe opportunity to incrementally upgrade the robotic system, inevitably leadingto the use of heterogeneous swarming MRS. However, such systems have not beenwell studied and incorporating upgraded agents into a swarm may result indegraded mission performances. In this paper, we propose a PSO-based strategyusing a topological k-nearest neighbor graph with tunable exploration andexploitation dynamics with an adaptive repulsion parameter. This strategy isimplemented within a simulated swarm of 50 agents with varying proportions offast agents tracking a target represented by a fictitious binary function.Through these simulations, we are able to demonstrate an increase in theswarm s collective response level and target tracking performance bysubstituting in a proportion of fast buoys.

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