Based On Ant Colony Algorithm For Multi-robot Coordination Mechanism

With the development of research and applications of robotics, multi-robot system has gradually become a new hotspot. It has many characteristics, such as, adaptability, robustness, distribution and efficiency, meanwhile this system is easy to devise and cost low, multi-robot system has broad field of application in the industrial, social services, military and aerospace. It is important that multi-robot system complete the task with effective cooperation in the future application.Ant colony algorithm is an intelligent simulated evolutionary algorithm. It not only can solve many different types of combinatorial optimization problems, but also can get good performance with self-organization, positive feedback, distributed computation and robustness in this solution.Single robot architecture for multi-robot system has been given in this paper based on the research of multi-robot system architecture and a new algorithm for multi-robot cooperation has been proposed in many complex situations. The model of multi-robot cooperation based on Ant colony algorithm with parallel Ant Colony master-slave structure has been given, through the research of Ant colony algorithm and multi-robot coordination mechanisms. And the algorithm of organizations and collaborative robots has been analyzed in detail. According to the transformation between the different roles of robots, the system can complete the task effectively. The method that combines adding waiting time with reducing selecting number has been put forward to the deadlock in the process of task. Finally through three simulation experiment, the algorithm is improved to be reasonable and correct.