文献类型：会议论文

英文题名：Path planning based on ant colony algorithm and distributed local navigation for multi-robot systems

作者：Liu, Shirong[1];Mao, Linbo[1];Yu, Jinshou[2]

机构：[1]Hangzhou Dianzi Univ, Sch Automat, Hangzhou 310018, Zhejiang, Peoples R China;[2]East China Univ Sci & Tech, Res Inst Automat, Shanghai 200237, Peoples R China

会议论文集：IEEE International Conference on Mechatronics and Automation

会议日期：JUN 25-28, 2006

会议地点：Henan Univ Sci & Technol, Luoyang, PEOPLES R CHINA

主办单位：Henan Univ Sci & Technol

语种：英文

外文关键词：multiple mobile robots; ant colony algorithm; path planning; distributed navigation

摘要：This paper presents a decoupled path planning based on ant colony algorithm and distributed navigation with collision avoidance for multi-robot systems. An improved ant colony algorithm is proposed to plan a reasonable collision-free path for each mobile robot of multi-robot system in the decoupled path planning scheme in complicated static environment. The special functions are added into the regular ant colony algorithm to improve the selective strategy. When an ant explores a dead-corner in path searching, a dead-corner table is established and a penalty function is used for the trail intensity updated in order to avoid the path deadlock of mobile robot. A behavior strategy an "first come and first service" is adopted to solve the conflict between moving robots in distributed local navigation. Simulation results show that the proposed method can effectively improve the performance of the planned path, and the individual robots with collision-free can achieve to reach their goal locations by the simple local navigation strategies.