Pheromone based multi-robot cooperative task allocation

Abstract

A method combining Artificial Attraction Pheromone(AAP) with Artificial Repulsion Pheromone(ARP) is presented to solve the problem of multi-robot task allocation.Under the unknown structured environment,multi-robot cooperative foraging experiment is performed.Experiment results show that the method presented in the paper can not only avoid spatial confliction among robots,but also can make the multi-robot system perform task allocation autonomously and effectively.