Ant colony based path planning for swarm robots

Abstract

A Swarm Robotic System consists of a number of robots working together and coordinating like a team. In these systems, the real time navigation and coordination throughout the workspace is the major task and path planning for swarm robots plays a major role in it. Path planning optimizes the navigation of robots and helps work without interference. In this paper, an Ant Colony Optimization based algorithm for planning the path of the swarm robots in a dynamic environment is proposed. The simulation results show the effectiveness of the proposed algorithm for path planning of five robots in a dynamic environment by changing the number of robots and obstacles.