Nature-inspired Path Planning for Robot Swarms

摘要

As the development of robotics technique, a raising number of scenarios call for coordination of large robotic swarms. One key problem for robotic swarms is distribution motion planning. This paper introduces some popular creature-inspired approaches for path optimization, which include Ant Colony System, Firefly algorithm, and Artificial Bee Colony. Their principle and methodology will be introduced specifically. Also, the author lists the final performance of these algorithms and has a systematic evaluation, and finally draws the conclusion that the ACO could find a nearly optimized but not rigorously optimized solution, ABC do the best work in minimizing the path length, and FA is the most practical algorithm in reality.