Research on Improvement of Ant Colony Algorithm for Multi-Robot Task Allocation

摘要

In this paper, an improved ant colony algorithm is proposed to study the multi-robot task allocation problem. By introducing a backhaul optimization factor, a new task point selection method is designed. The pheromone update method uses a combination of local pheromone update and global pheromone update. In order to further improve the quality of the solution, a cross path removal operation is designed. Simulation results show that the proposed algorithm can obtain high-quality solution and fast convergence, the effect is significant.