The behavior fusion based on Particle Swarm Optimization method

In dynamic path planning of multi-robot systems, to better resolve the behavior fusion problem, Particle Swarm Optimization (PSO) method was proposed to confirm the weight of each behavior and thus the fusion of the basic behavior was achieved. The basic behavior was devised through the improved behavior dynamics. The proposed arithmetic was simulated by using matlab. The simulation results show that the method may produce the smooth path for the robot and may reduce the probability caused by hard handoff between the different behaviors.