A hybrid primal-dual-PSO (pdipmPSO) algorithm for swarm robotics flocking strategy

This paper presents a hybrid algorithm called Primal-Dual-PSO algorithm to address the problem of swarm robotics flocking motion. This algorithm combines the explorative ability of PSO with the exploitative capacity of the Primal Dual Interior Point Method. We hypothesize that the fusion of the two algorithms provides a strong probability of avoiding premature convergence, and also ensure that the robots are not trapped in their local minimal. Our simulation result provides a clear indication of the effectiveness of the algorithm. The hybrid algorithm performs better in terms of precision, rate of convergence, steadiness, robustness and flocking capability for homogenous set of swarm robots.