Global path planning of Multi-robot Fish based on adaptive ant colony algorithmin dynamic environment

摘要

Based on adaptive ant colony algorithm, this paper provides a global path planning for multi-robot fish in dynamic environment, so as to achieve better coordination between the robot fish by means of improving their path planning. The adaptive ant colony algorithm in combination with dynamic self-adapting adjust pheromone, can avoid local minimum and have good global search ability. It can effectively expand the search space and quickly findan optimal path to reach the destination. In the unknown obstacle environment which is rasterized, target nodes are generated via obstacle avoidance constraint and adjacent grid transition probability to complete the selection of each path. By many experiments in matlab, the results show that the method can let multi-robot fish avoid obstacles to reach the destination effectively in dynamic obstacle environment.