MATLAB-Based Swarm Intelligence Introduction to

Transcript:MATLAB-Based Swarm Intelligence Introduction to:
MATLAB-Based Swarm Intelligence Introduction to Swarms The phenomenon of animals forming large “swarms” has lead to the study of swarm behaviour Biologist and and computer scientists study biological swarms to analyze the interaction among social animals to achieve goals and to evolve themselves Introduction to Swarms Swarm Intelligence has become increasingly important in the solving of optimization problems in several fields These fields can include: Telecommunication systems Robotics electrical power systems consumer appliances traffic patterns in transportation systems military applications Introduction to Swarms Swarm intelligence is the collective intelligence of a group of simple autonomous agents Swarm intelligence involves N agents that are working together to complete a specific goal The agents themselves are governed by simple local rules that when observed by an entire swarm can complete a goal The agent interacts with its surrounding environment which may include other agents, but still acts relatively independent from those agents Swarm Example The movement of a bird within a flock is analogous to an agent within a swarm The bird has its individual movements within the flock to maintain its speed and to prevent collisions by adjusting its speed and position relative to its flock mates There is no flock leader that is assigning movements The flock works together for benefits that include protection from animals and the location of food Biological Background The boid model was created in 1987 by Craig Reynolds The boid is a distributed behavioral model which is used to simulate the motion of a flock of birds The boid is an individual actor that navigates its position based upon its own perception of the changing environment Boid Rules The avoidence rule states that the boid must move away from other boids that are to close The copy rule states that a boid must follow the general direction of the flock based upon the flocks average velocities and directions The center rule states that the boid should minimize the exposure to flocks exterior by moving towards the perceived center of the flock The view rule states that the boid should move laterally away from any boid that blocks its view Swarm Robots Swarms can provide increased task performance high reliability, low unit complexity and decreased cost as compared to traditional robotic systems Application of Swarm robots include: Flexible manufacturing systems Spacecraft Inspection/Maintenance Construction Agriculture Medicine http://www.youtube.com/watch?v=i3ernrkZ91E Swarm Robots Gerardo Beni introduced cellular robotic systems which are