Volume 7 Number 9 (Sep. 2012)
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JCP 2012 Vol.7(9): 2160-2167 ISSN: 1796-203X
doi: 10.4304/jcp.7.9.2160-2167

Multi-robot Task Allocation Based on Ant Colony Algorithm

Jian-Ping Wang1, Yuesheng Gu1, 2, Xiao-Min Li1, 2
1School of Information Engineer, Henan Institute of Science and Technology, Henan, Xinxiang, 453003, China
2School of Technique and Electricity, Henan Institute of Science and Technology, Henan, Xinxiang, 453003, China


Abstract—With the development of information technology, the capability and application fields of robots become wider. In order to complete a complex task, the cooperation and coordination of robots are needed to be adopted. As the main problem of the multi-robot systems, multi-robot task allocation (MRTA) reflects the organization form and operation mechanism of the robots system. The cooperation and allocation for large-scale multi-robot system in loosely environment is the hot issue. As a popular bionic intelligence method, ant colony algorithm is powerful for solving MRTA. By analyzing the existing algorithms, this paper proposed a new solution for MRTA based on ant colony algorithm, built up the model of the algorithm and described the robots coalition, high-level task allocation process in details. Finally, we realized the simulation of ant colony algorithm based on MATLAB, and then compared the robustness and the best incomes of the four algorithms. The simulation results show that, ant colony algorithm is a high degree of ability and stability for solving MRTA.

Index Terms—Ant Colony Algorithm, Multi-Robot Task Allocation, Robot Coalition Formation, multi-robots systems, MATLAB.

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Cite: Jian-Ping Wang, Yuesheng Gu and Xiao-Min Li, "Multi-robot Task Allocation Based on Ant Colony Algorithm," Journal of Computers vol. 7, no. 9, pp. 2160-2167, 2012.

General Information

ISSN: 1796-203X
Abbreviated Title: J.Comput.
Frequency: Bimonthly
Editor-in-Chief: Prof. Liansheng Tan
Executive Editor: Ms. Nina Lee
Abstracting/ Indexing: DBLP, EBSCO,  ProQuest, INSPEC, ULRICH's Periodicals Directory, WorldCat,etc
E-mail: jcp@iap.org
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