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Open Access

Multi-Objective Rule System Based Control Model with Tunable Parameters for Swarm Robotic Control in Confined Environment

Beijing Institute of Advanced Studies, College of Advanced Interdisciplinary Studies, National University of Defense Technology, Beijing 100084, China
Key Laboratory of Collaborative Intelligence Systems, Ministry of Education, Xidian University, Xi’an 710071, China
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Abstract

Enhancing the adaptability of Unmanned Aerial Vehicle (UAV) swarm control models to cope with different complex working scenarios is an important issue in this research field. To achieve this goal, control model with tunable parameters is a widely adopted approach. In this article, an improved UAV swarm control model with tunable parameters namely Multi-Objective O-Flocking (MO O-Flocking) is proposed. The MO O-Flocking model is a combination of a multi rule control system and a virtual-physical-law based control model with tunable parameters. To achieve multi-objective parameter tuning, a multi-objective parameter tuning method namely Improved Strength Pareto Evolutionary Algorithm 2 (ISPEA2) is designed. Simulation experiment scenarios include six target orientation scenarios with different kinds of objectives. Experimental results show that both the ISPEA2 algorithm and MO O-Flocking control model have good performance in their experiment scenarios.

Keywords

multi-objective optimizationheuristicsswarm roboticsflocking modelparameter tuning

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Complex System Modeling and Simulation
Volume 4 Issue 1,
March 2024
Pages 33-49
DOI: 10.23919/CSMS.2023.0022
Cite this article:
Wang Y, Xing L, Wang J, et al. Multi-Objective Rule System Based Control Model with Tunable Parameters for Swarm Robotic Control in Confined Environment. Complex System Modeling and Simulation, 2024, 4(1): 33-49. https://doi.org/10.23919/CSMS.2023.0022

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Received: 04 September 2023
Revised: 19 November 2023
Accepted: 04 December 2023
Published: 30 March 2024
© The author(s) 2024.

The articles published in this open access journal are distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/).
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