General Ant Colony Algorithm and Its Applications in Robot Formation

摘要

A general ant colony algorithm is proposed.In this algorithm,ants are supposed to be divided into several swarms and each swarm possesses its own nest and food at different places.During a preset period,ants from the same swarm increase the strength of pheromone on the shortest path which they have found between a food source and the nest.In the meanwhile,they adjust the strength of pheromone on other paths to zero.Each swarm moves on its own path and collision never occurs.When environment changes,the swarms crawl to their food along the increased pheromone.The general ant algorithm combined with the affine transformation is applied to the robot formation,and the results are effective.