Optimal Multi-Target Path Planing Control for Multiple Mobile Robot System

摘要

In this paper, the problems related to cooperative control for the multiple mobile robot system (MMRS) is presented. The LIDAR sensor is employed to obtain the 2D map of the indoor space. The formation control and the leader-following algorithm are applied to control the MMRS moving in a specific formation. Additionally, this paper considers the scenario that the MMRS has to move to several targets in the indoor space with many obstacles. Therefore, the indoor travelling salesman problem-based Ant Colony Optimization (ACO) is studied in this work to determine the optimal moving path of the MMRS. To prove the effectiveness and merit of the proposed methods, the simulation results are provided in this article.