Light Source Detection using Multirobot Systems with Particle Swarm Optimization Approach

Abstract

Exploration and searching in unknown or hazardous environments using Multirobot System (MRS) is among the principal topics in robotics. There have been numerous researches on searching and detection of odor, fire or pollution sources. In this paper, we present results on detecting light sources with MRS using modified Particle Swarm Optimization (PSO). The robot swarm makes use of Artificial Potential Field (APF) to avoid collision with obstacles or other robots while heading towards areas of highest illuminance. Simulation results on Matlab in various scenarios have proven the algorithm’s reliability.