Exploration Enhanced RPSO for Collaborative Multi-target Searching of Robotic Swarms
- E2RPSO.py : main of E2RPSO
- MLPSO.py : main of MLPSO
- RDPSO.py : main of RDPSO
- RPSO.py : main of RPSO
- congiguration/setting.ini : all parameters in 4 algorithm
- util/util.py : base method
- util/E2RPSO_util.py : method used in E2RPSO
- util/MLPSO_util.py : method used in MLPSO
- util/RDPSO_util.py : method used in RDPSO
- util/RPSO_util.py : method used in RPSO
import E2RPSO
E2RPSO()
import MLPSO
MLPSO()
import RDPSO
RDPSO()
import RPSO
RPSO()
| Parameters | Describe | Value |
|---|---|---|
| PBEST | Initialize Pbest | 2000000000 |
| GBEST | Initialize Gbest | 2000000000 |
| save | Safety distance of obstacle avoidance | 1 |
| show_animation | Draw trajectory | True |
| show_type | 1 Static diagram, 2 dynamic diagram | 1 or 2 |
| can_print | print running information | 1 |
| save_path | Store path information | False or True |
| Path | Storage path | - |
| V_LIMIT | Max velocity in single iteration | 2 |
| T | Max iteration times | 10000 |
| C1 | parameter for Pbest | 0.4 |
| C2 | parameter for Gbest | 0.9 |
| C3_index | avoid local optimum | 5 |
| C4_index | avoid obstancle | 10 |
| K | Map area exploration rate increment | 1 |
| SIDE | map side | 1000 |
| Size | robots num | 20 |
| Goal_num | goal num | 10 |
| Parameters | Describe | Value |
|---|---|---|
| PBEST | Initialize Pbest | 2000000000 |
| GBEST | Initialize Gbest | 2000000000 |
| save | Safety distance of obstacle avoidance | 1 |
| show_animation | Draw trajectory | True |
| show_type | 1 Static diagram, 2 dynamic diagram | 1 or 2 |
| can_print | print running information | 1 |
| save_path | Store path information | False or True |
| Path | Storage path | - |
| V_LIMIT | Max velocity in single iteration | 2 |
| T | Max iteration times | 10000 |
| C1 | parameter for Pbest | 0.4 |
| C2 | parameter for Gbest | 0.9 |
| C3_index | avoid local optimum | 5 |
| C4_index | avoid obstancle | 10 |
| K | Map area exploration rate increment | 1 |
| SIDE | map side | 1000 |
| Size | robots num | 20 |
| Goal_num | goal num | 10 |
| Parameters | Describe | Value |
|---|---|---|
| PBEST | Initialize Pbest | 2000000000 |
| GBEST | Initialize Gbest | 2000000000 |
| save | Safety distance of obstacle avoidance | 1 |
| show_animation | Draw trajectory | True |
| show_type | 1 Static diagram, 2 dynamic diagram | 1 or 2 |
| can_print | print running information | 1 |
| save_path | Store path information | False or True |
| Path | Storage path | - |
| V_LIMIT | Max velocity in single iteration | 2 |
| T | Max iteration times | 10000 |
| C1 | parameter for Pbest | 0.4 |
| C2 | parameter for Gbest | 0.9 |
| C3 | avoid obstancle | 100000 |
| SIDE | map side | 1000 |
| Size | robots num | 20 |
| Goal_num | goal num | 10 |
| Parameters | Describe | Value |
|---|---|---|
| PBEST | Initialize Pbest | 2000000000 |
| GBEST | Initialize Gbest | 2000000000 |
| save | Safety distance of obstacle avoidance | 1 |
| show_animation | Draw trajectory | True |
| show_type | 1 Static diagram, 2 dynamic diagram | 1 or 2 |
| can_print | print running information | 1 |
| save_path | Store path information | False or True |
| Path | Storage path | - |
| V_LIMIT | Max velocity in single iteration | 2 |
| T | Max iteration times | 10000 |
| C1 | parameter for Pbest | 0.4 |
| C2 | parameter for Gbest | 0.9 |
| C3 | avoid obstancle | 100000 |
| SIDE | map side | 1000 |
| Size | robots num | 20 |
| Goal_num | goal num | 10 |