Multi-robot Task Allocation Based on Ant Colony Algorithm

摘要

With the development of information technology, the capability and application fields of robots become wider. In order to complete a complex task, the cooperation and coordination of robots are needed to be adopted. As the main problem of the multi-robot systems, multi-robot task allocation (MRTA) reflects the organization form and operation mechanism of the robots system. The cooperation and allocation for large-scale multi-robot system in loosely environment is the hot issue. As a popular bionic intelligence method, ant colony algorithm is powerful for solving MRTA. By analyzing the existing algorithms, this paper proposed a new solution for MRTA based on ant colony algorithm, built up the model of the algorithm and described the robots coalition, high-level task allocation process in details. Finally, we realized the simulation of ant colony algorithm based on MATLAB, and then compared the robustness and the best incomes of the four algorithms. The simulation results show that, ant colony algorithm is a high degree of ability and stability for solving MRTA.