Multi-robot environment exploration based on immune genetic algorithm
DUAN Yong
WANG Yu
YU Xiang-you
Abstract：Aiming at the task allocation and path planning problems in the multi-robot environment exploration, the task points to be explored in the environment were allocated to the individual robot according to the short distance-prior strategy, and the task points assigned to the individual robot were optimized and explored with an improved immune genetic algorithm. A path planning method with the optimization of initial task points was proposed, which could make the robots traverse efficiently all exploration points in the work environment without the repetition. Through establishing a multi-robot simulation test system,such data information as the task points and robots in the experiment was randomly generated. Under above-mentioned condition,the proposed method was verified with the experiments. The results show that the proposed method can effectively realize the multi-robot environment exploration.
Keywords：multi-robotimmune genetic algorithmenvironment explorationtask assignmentpath planningantibody concentrationfitnessnearest neighbors algorithm
Publication Date：2018-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 299-303 )