Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

H tm kim a robot trong vng b thm ha s dng thut ton ti u by n Multi-robot Searching System in a disaster area using Particle Swarm Optimization Algorithm
Phm Duy Hng, Phm Minh Trin v Trn Quang Vinh Trng i hc Cng ngh, i hc Quc gia H ni e-Mail: hungpd@vnu.edu.vn Tm tt:
Bi bo gii thiu v nghin cu gii quyt bi ton tm mc tiu ti u cho mt h gm nhiu robot di ng hot ng t qun tr (a robot) s dng thut ton ti u by n PSOA (Particle Swarm Optimization Algorithm). C s l thuyt v m phng bi ton gi nh h a robot tm kim khu vc c nng nhim x cao trong vng b thm ha ht nhn c thc hin. Mi robot l cc phn t hot ng t tr, c kh nng nh v, thu thp thng s mi trng, x l d liu v truyn thng. Kt qu thc nghim m phng cho thy tnh kh thi ca ng dng. dng thut ton di truyn GA. Chng ti nghin cu mt phng php trong s dng thut ton ti u by n PSOA (Particle Swarm Optimization Algorithm) gii quyt [1], [3], [4], [7]. Thut ton ti u by n l dng thut ton ti u qun th s dng tr tu by n phng theo hnh vi ca cn trng, ng vt nh kin, mi, ong, chim. Cc phn t trong n c s tng tc, trao i thng tin vi nhau cng tm kim mc tiu ti u, chng hn n kim tm ng i ngn nht t t ti ni c ngun thc n, n chim gi nhau tm n ni c nhiu thc n, Mt s dng thut ton by n ang c nhiu ngi quan tm, pht trin phi k n l: thut ton di truyn GA (Genetic Algorithm), thut ton tin ha EA (Evolution Algorithm), thut ton n kin ACO (Ant Colony Optimization), thut ton ti u PSO (Particle Swarm Optimization). Cc thut ton ny u da trn nguyn l hc tng cng vi mt s nguyn tc tin ha [5], theo cc phn t trong n da vo thng tin lch s bn thn v thng tin ca cc phn t trc iu chnh thng s ca mnh hng ti gi tr ti u. Cc nghin cu v thut ton by n hin nay tp trung vo hai hng chnh: mt l nghin cu ci tin thut ton da trn m hnh gc, hai l nghin cu ng dng thut ton cho cc bi ton thc t [2]. Thut ton ti u by n PSO c James Kennedy (nh tm l hc x hi) v Russell Eberhart (k s in) xut nm 1995 [1] ti Hi ngh ca IEEE phng theo hnh vi tm kim thc n ca n chim, hot ng da trn ba nguyn tc [6] c bn l: nh gi (evalution) gi tr mc tiu c xc nh cho cc phn t cc b v kh nng nh gi tr ti u cc b ca mi phn t ring l; so snh (comparison) v tr thc hin tt nht cc b ca mi phn t c so snh vi nhau tm gia phn t kh d nht, gi l ti u ton cc; bt chc (imitation) cc phn t trong qun th bt chc hnh ng ca cc phn t tt hn nhm sm tip cn gi tr mc tiu. Thut ton PSO v ang c ng dng trong nhiu lnh vc khc nhau nh trong k thut iu khin, trong thit k ti u ng c in, v.v[2]. Bi bo ny trnh by v kt qu m phng gi nh mt h a robot tm kim v cnh bo khu vc c

Abstract:
The paper presents resolving a problem of target searching optimization for an autonomous multi-robot system using a Particle Swarm Optimization algorithm PSO. The theoretical fundamental and simulation for the actions of the multi-robot system in a disaster area is introduced. The system has the duty to find a location which is highly affected by radioactivity. Each robot is an autonomous one which has the capability of localization, data acquisition, calculation and communication. The simulating result shows the feasibility of method.

Keyword: muli-robot system, particle swarm

optimization algorithm, PSO.

1. Phn m u
Ti u mt mc tiu cho mt nhm cc robot di ng hot ng t tr v c th tng tc vi nhau hin ang l mt bi ton c nhiu ngi quan tm [6]. Bi ton c th m rng cho trng hp a mc tiu c nhiu tim nng ng dng [2], nht l trong lnh vc cnh bo, gim st cc thng s mi trng hoc tm kim, cu h, cu nn ti nhng ni m con ngi khng th lui ti. Th d trong thm ha ht nhn Nht bn va qua, mi robot cu h thng minh trong mt nhm, qua cc phng tin nh v ca mnh, qua cc kt qu o liu phng x v tr o hin ti v qua cc thng tin vi robot ln cn c th tham gia hot ng trong ton nhm c th nhanh chng i n khu vc c nng phng x cao nht trong mt vng thm ha rng ln. C mt vi phng php gii quyt bi ton ny nh cch s

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nng nhim x cao trong vng b thm ha ht nhn v s dng thut ton PSO gii quyt. Mi robot tng ng vi mt phn t (particle) trong thut ton, hot ng t tr, c kh nng nh v, thu thp thng s mi trng, truyn thng v tnh ton. Trng hp ny, h thng gii quyt bi ton ti u n mc tiu. Cc kt qu m phng chng minh tnh ng n ca gii php. Cc thc nghim m phng cng ch ra kh nng p dng PSOA tng ng vi trng hp dng gii thut GA nhng trong trng hp ny s thng s i hi t hn, thi gian tm mc tiu ton cc nhanh v thc hin n gin [3]. Mi phn t s c gng thay i v tr ca n da trn cc thng tin: v tr hin ti, vn tc hin ti, khong cch gia v tr hin ti v pbest, khong cch gia v tr hin ti v gbest. M hnh ton hc c ch ra nh sau: vki = w.vki + c1.r1.(pbesti xki) + c2.r2.(gbest xi) (1) xki = xki + vki, vki, xki (2) Trong , tng ng l vn tc v v tr ca phn t i ti ln lp k; w l hm qun tnh; c1 v c2 l h s cc b v h s ton cc; r1, r2 l gi tr ngu nhin phn b u trong khong gi 0 v 1; pbest i l gi tr ti u cc b ti phn t i, gbest l gi tr ti u ton cc. Hm qun tnh w c gi tr ln s to iu kin tm kim mc tiu ton cc, ngc li s h tr tm kim mc tiu cc b tt hn. Do vy, bng cch gim tuyn tnh h s qun tnh w t gi tr ln xung gi tr nh, thut ton PSO cho hiu sut tt hn so vi thit lp h s w c nh. Thut ton cn a ra khi nim giao thc vng (ring topology) [6] trong quy nh s phn t ln cn c th trao i thng tin vi nhau v gi tr ti u cc b c xc nh trong giao thc vng .

2. Ni dung chnh
2.1. Thut ton PSO Nh ni trn, PSO l thut ton ti u phng theo hnh vi tm mi ca n chim, s dng tr tu by n. Ban u, n chim bay theo mt hng ngu nhin. Trong qu trnh hot ng c nhng c th trong n tm kim c ni cha thc n. Ty theo lng thc n nhiu hay t m c th gi thng tin n cc c th ln cn khc trong by v lan truyn trn ton qun th. Da vo thng tin nhn c, mi c th s iu chnh hng bay v vn tc ph hp tm n ni c nhiu thc n nht. Thut ton ny [1] s dng mt s cc phn t to thnh n di chuyn xung quanh khng gian tm kim tm ra mc tiu tt nht. Mi phn t coi l mt im trong khng gian a chiu, hot ng theo kinh nghim bn thn v kinh nghim ca cc phn t khc. Mi phn t lu gi gi tr mc tiu tt nht ca bn thn t c gi l pbest (gi tr mc tiu cc b tt nht). Gi tr mc tiu tt nht trong s cc gi tr mc tiu cc b l gbest. Nhim v quan trng ca thut ton l y nhanh gi tr mc tiu mi phn t ti pbest v gbest nh H.1. di y:

H.1. Xu hng cp nht thng s thut ton PSO vi xk, xk+1 tng ng l v tr mc tiu hin ti v tip theo; vk, vk+1tng ng l vn tc ca phn t mc tiu hin ti, mc tiu tip theo; vpbest, vgbest l vn tc im pbest v gbest. H.2. Lu thut ton PSO.

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Hot ng ca thut ton gm cc bc chnh sau: Bc 1: khi to - Thit lp cc h s c1, c2 thit lp s ln lp ti a n_exec_max - Khi to v tr ban u xi ca cc phn t mt cch ngu nhin (i = 1 n N vi N l s phn t trong by n). - Khi to vn tc ban u vi ngu nhin vi 0 vi vmax (i = 1 n N). - t n_exec = 1. Bc 2: nh gi gi tr hm mc tiu tng ng vi v tr ca phn t. Bc 3 : Nu Pki pbest th pbest = Pki Bc 4: Xc nh gbest thng qua vic so snh cc gi tr Pki (tm gi tr tt nht ca pbest) Bc 5: Cp nht gi tr vn tc theo cng thc (1) v v tr theo cng thc (2). Bc 6: kim tra iu kin dng, nu c tha mn th xc nh gi tr gbest. Thng thng, thut ton thc hin n_exec vng lp nu trn, mi vng lp gi l mt ln chy. Nh m t, trong 1 ln chy c trung bnh nb_eval ln nh gi gi tr mc tiu tm gi tr ti u. Thut ton hot ng tt hay khng ph thuc vo s ln nh gi trung bnh thp hay cao v gi tr mc tiu c t nh mong mun hay khng. 2.2. H tm kim a robot s dng thut ton PSO Gi nh c N robot hot ng trong khu vc c thm ha ht nhn nhm tm kim v cnh bo cho con ngi bit ni c nng nhim x nguy him. Mi robot tng ng vi mt phn t trong thut ton PSO. Cc robot ny hot ng t tr v ng b, c kh nng o mc nhim x ca mi trng, c b x l tnh ton, c kh nng nh v v truyn thng ni b vi nhau. Giao thc vng vi K phn t (K<N) c p dng, theo K robot ln cn nhau c th truyn thng tin cho nhau nhm lan truyn thng tin ti c qun th. Ban u, cc robot c t ngu nhin vo khng gian tm kim 2D. V tr v vn tc ca robot c xc nh bi vct 2 chiu x v v. Ti mi v tr x robot o c nng nhim x ca mi trng c gi tr tng ng vi gi tr hm mc tiu f trong f t cc tiu ti nhng ni c mc nhim x vt mc nguy him. Bi ton ny coi mi robot l mt cht im c ta v vn tc ti tng thi im c o v iu khin chnh xc trong khng gian phng 2 chiu. Tm thi cha tnh n cc tham s ng hc, ng lc hc ca cc robot nh khi lng, kch thc, a hnh, v.v Thut ton PSO c ci t vi h s w xc nh trong khong gii hn t 0.4 ti 0.9 ; h s c1 = c2 = 1,2. Ngng cnh bo mc phng x nguy him eps = 0.9 (iu kin dng). Gi nh, nng phng x trong mi trng phn b u, c gi tr gim dn t l vi bnh phng khong cch k t khu vc trung tm vng nhim x, trng hp ny hm mc tiu dng i snh kt qu c dng f = (x - xst)2 trong xst l lch chun cho php, i vi khng gian 2D, hm ny tr thnh f = (x1 - xst)2 + (x2 - xst)2. Sau khi tip nhn cc gi tr khi to ban u v v tr v vn tc, cc robot s dng cm bin o mc nhim x ti v tr ban u xc nh gi tr hm mc tiu tng ng. Thng tin ny c cc robot trong n gi cho nhau t xc nhn gi tr mc tiu ti u ban u. Tip n, h thng thc hin 2 qu trnh lp: - Qu trnh th nht: cc robot khi to ma trn lin kt vng vi k robot ln cn, trong phn m phng chng ti s dng k = 3. y l ma trn vung c kch thc (k k) = (3 x 3) trong cc phn t ca ma trn c gi tr bng 1 tng ng vi cp i robot c th trao i thng tin vi nhau, chng hn robot s 2 v s 5 c th trao i thng tin vi nhau th phn t K[2, 5] = 1, bng 0 trong trng hp ngc li. Da trn ma trn lin kt v thng tin t 2 robot ln cn, mi robot c th xc nh c gi tr mc tiu cc b pbest trong nhm. Cng vi gi tr gbest c cc robot tin hnh cp nht phng trnh (1) v (2) xc v tr v hng di chuyn ti mc tiu mi. Khi di chuyn n v tr mi, cc robot tip tc s dng cm bin o mc nhim x ti v tr ny ng thi gi thng tin trong nhm cc robot ln cn lan truyn ti ton qun th nhm xc nh gi tr mc tiu ti u ton cc gbest v tr hin ti. Qu trnh ny c lp li cho n khi gi tr mc tiu ton cc tha mn iu kin dng, tc l c robot trong n tm ra v tr c nng phng x vt ngng nguy him. M phng qu trnh ny, chung ti s dng mt bin nb_eval m s ln nh gi gi tr mc tiu ti u ton cc. Xin lu , gi tr gbest tha mn iu kin dng khng ng ngha vi im c nng phng x cao nht m ch khng nh c l im c nng phng x mc nguy him. - Qu trnh lp th hai: thc hin lin tip qu trnh lp th nht vi s ln xc nh (trong bi ton ny chng ti s dng bin n_exec). Mi ln h thng s tm ra mt gi tr gbest tha mn iu kin dng, tc l tm ra mt im c nng phng x mc nguy him. Sau n_exec_max ln lp trong qu trnh hai, cng vi kh nng nh cc thng tin trong mi ln thc hin, robot s xc nh c gi tr mc tiu thp nht trong s cc gi tr gbest. Qu trnh lp tm mc tiu nu trn hon ton da vo s tng tc, trao i v cp nht thng tin ni b gia cc robot, khng c s can thip ca cc yu t ngoi h thng tm kim. Ch khi mc tiu ti u c xc nh, h thng s c nhng cnh bo cn thit gi ra khi phm vi h tm kim cnh bo cho con ngi. H.3. di y v th hm mc tiu da trn gi tr mc tiu ti u trong mi ln nh gi ca by robot.

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011 3. Kt lun

Trong bi bo ny, chng ti trnh by c s l thuyt thut ton by n PSO v m phng thnh cng bi ton gi nh v mt h tm kim a robot s dng thut ton by n. H thng ny c tc hi t nhanh, t l trng mc tiu cao, trong gi nh mt phng x phn b u v gim dn theo bnh phng khong cch so vi v tr tm th t l ny lun t 100%. Kt qu m phng cng cho thy tim nng ng dng ca thut ton PSO trong cc m hnh thc tin nht l p dng i vi h tm kim a robot. a ng dng ny vo thc t cn rt nhiu vic phi nghin cu tip. Mt trong nhng cng vic cn tip tc thc hin l vic m phng h thng ny tnh n khi lng, kch thc v cc tham s ng hc, ng lc hc ca tng robot. Vic ng b cc phn t ring l cng nh duy tr mng robot cng cn c quan tm. Thc hin thnh cng bi ton m phng ny s l iu kin tt th nghim bi ton trn h thng robot tht hin c ti phng th nghim. Bn cnh vic m rng m hnh cho bi ton tm kim a mc tiu cng l vic lm c ngha. Ti liu tham kho [1] James Kennedy and Russell Eberhart, Particle swarm optimization Neural Networks, 1995, Proceedings., EEE Intl. Conf. on, Vol.4, Iss., pp. 1942-1948. [2] Russell C.Eberhart, Yuhui Shi, Particle Swarm Optimization: Developments, Applications and Resources, Proceedings of the 2001 congress on Evolutionary Computation 2001; pp 81-86. [3] Jaco F. Schutte, The Particle Swarm Optimization Algorithm, EGM 6365 Structural Optimization, Fall 2005. [4] Daniel N.Wilke, Analysis of the particle swarm optimization algorithm, Master of Engineering Thesis, University of Pretoria, South Africa, 2005. [5] Julian Togelius, Renzo De Nardi, Alberto Moraglio, Geometric PSO + GP = Particle Swarm Programming, Evolutionary Computation (2008), Publisher: IEEE press, pp. 3594-3600. [6] Jim Pugh and Alcherio Martinoli, Distributed Adaptation in Multi-Robot Search using Particle Swarm Optimization, SAB08 Proceedings of the 10th international conference on simuliation of adaptive behavior: From Animals to Animats, 2008. [7] Boonserm Kaewkamnerdpong and Peter J. Bentley, Perceptive particle swarm optimization: an Investigation, Proceedings of IEEE Swarm Intelligence Symposium, pp. 169-176, California, 810 June 2005.

H.3. th hm mc tiu c dng da trn cc gi tr ti u 2.3. Kt qu m phng v tho lun S liu t bng 1 cho thy trong tt c cc ln chy, cc robot u tm thy gi tr ti u theo yu cu ca bi ton, iu ny chng t thut ton hi t. S ln nh gi trung bnh cng gia tng khi tng s phn t ca by n. Bng 1. Kt qu m phng vi s lng robot khc nhau:
S Eval_mean robot N Eps_mean Standard Best min dev. value Success rate

6 12 18 24 30

116.40 199.44 262.44 318.24 384.30

0.4068 0.4369 0.4174 0.4129 0.3987

0.2634 0.2495 0.2715 0.2456 0.2521

0.0002 0.0032 0.0001 0.0036 0.0048

100% 100% 100% 100% 100%

Vi Eval_mean l s ln nh gi trung bnh, Eps_mean l gi tr ti u trung bnh; Standard dev. l lch chun so vi gi tr ti u nh nht, Best min value l gi tr ti u nh nht trong s cc gi tr ti u, Success rate l t l s ln chy thu c kt qu ti u. H.4. cho thy s bm ui gi tr ti u cc b pbest (ng t nt) vi gi tr ti u ton cc gbest (ng lin nt) trong mt chu trnh nh gi thuc ln chy th 70 ca chng trnh m phng.

H.4. Gi tr hm mc tiu cc b v ton cc trong mt ln nh gi

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