Development of Multi-Robot Systems Using Particle Swarm Optimization Algorithm for Task Allocation

摘要

Task allocation is a problem of finding targets and distributing agents to these targets to achieve certain goals. One algorithm to solve this problem is Particle Swarm Optimization (PSO). This paper investigates the possible implementation of PSO using a real multi-robot system. Here, three E-Puck robots were used and a camera was placed on top of the environment to locate the robots using image processing technique. The three robots’ locations were sent to the server and PSO calculation was performed on the server to navigate each robot to its next position. Experiment results showed that the designed multi-robot system in the real world can mimic the behavior of multi-robot system in the simulation.