ITSP/IMTSP-Based Path Planning for Multiple-Mobile Robot System

摘要

The novel methods for determining the optimal moving trajectories and formation control of the Multiple Mobile Robot System (MMRS) are studied in this paper. The Ant Colony Optimization (ACO) algorithm combined with the A <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$^{\ast }$ </tex-math></inline-formula> algorithm is employed to solve the Inner Travel Salesmen Problem (ITSP) and Inner Multiple Travel Salesman Problem (IMTSP) to obtain the optimal path for MMRS. The maps of the working environment are built by merging three scanned single maps obtained by three mobile robots to save time. The multiple mobile robots are located by using the Adaptive Monte Carlo Localization (AMCL) algorithm and the Dynamic Window Approach (DWA) algorithm is designed to avoid both static and dynamic obstacles. The leader-follower is employed to control the moving of the MMRS under the specific formations. Finally, the simulation results in Gezabo and Matlab, and the experiments are provided to prove the success of the proposed methods.