Application of Collective Robotic Search Using Neural Network Based Dual Heuristic Programming (DHP)

  • Nian Zhang
  • Donald C. WunschII
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3972)


An important application of mobile robots is searching a region to locate the origin of a specific phenomenon. A variety of optimization algo-rithms can be employed to locate the target source, which has the maximum intensity of the distribution of some detected function. We propose a neural network based dual heuristic programming (DHP) algorithm to solve the collective robotic search problem. Experiments were carried out to investigate the effect of noise and the number of robots on the task performance, as well as the expenses. The experimental results were compared with those of stochastic optimization algorithm. It showed that the performance of the dual heuristic programming (DHP) is better than the stochastic optimization method.


Hide Layer Mobile Robot Stochastic Optimization Route Length Critic Network 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Nian Zhang
    • 1
  • Donald C. WunschII
    • 2
  1. 1.Dept. of Electrical and Computer EngineeringSouth Dakota School of Mines & TechnologyRapid CityUSA
  2. 2.Dept. of Electrical and Computer EngineeringUniversity of Missouri-RollaRollaUSA

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