A Novel Improved Ant Colony Algorithm for Multi-Robot Task Allocation

摘要

In this paper, a novel 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. At the same time, an improved strategy for re-optimizing the optimal path is designed. Simulation experiments show that the proposed algorithm can further improve the quality and efficiency of the ant colony algorithm.