Initialization of Robotic Formations Using Discrete Particle Swarm Optimization

In this paper, a Discrete Particle Swarm Optimization (DPSO) technique is applied as an optimal motion planning strategy for the initialization of mobile robots to establish some geometrical patterns or formations. Firstly, an optimal assignment of location and orientation for each robot in the formation is performed. For this, a total travelling cost is defined, involving the angular and translational movement by all robots from their initial positions in the workspace to their goal positions. The objective is then to determine the position for each robot in the formation in order to minimize the cost function to form a predefined shape. Once each robot has been assigned with a desired position, a search scheme is implemented to obtain a collision free trajectory for each robot to establish the formation. Simulation results are presented to illustrate the validity of the proposed approach.