The Multi-Robot Task Allocation Study Based on Improved Ant Colony Algorithm

摘要

This paper researches the multi-robot system's task allocating process,which is a NP problem.In order to solve the best task allocating problem of the multi-robot system,an improved Ant Colony Algorithm is used in allusion to the multi-robot system autonomously task allocating problem in a dynamic environment,considered the task restricting and robot ability.The improved algorithm achieving overall situation approximation optimal task allocation is verified by simulation based on the basic Ant Colony Algorithm and the improved algorithm.