Journal of Mathematical Sciences and Applications
ISSN (Print): 2333-8784 ISSN (Online): 2333-8792 Website: Editor-in-chief: Prof. (Dr.) Vishwa Nath Maurya, Cenap ozel
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Journal of Mathematical Sciences and Applications. 2016, 4(1), 34-38
DOI: 10.12691/jmsa-4-1-6
Open AccessArticle

Genetic Algorithm for Task Allocation and Path Planning of Multi-robot System

Zhenping Li1, and Xueting Li1

1School of Information, Beijing Wuzi University, Beijing, China

Pub. Date: November 02, 2016

Cite this paper:
Zhenping Li and Xueting Li. Genetic Algorithm for Task Allocation and Path Planning of Multi-robot System. Journal of Mathematical Sciences and Applications. 2016; 4(1):34-38. doi: 10.12691/jmsa-4-1-6


Based on the consideration of the collision, the task allocation and path planning of multi-robot system are studied. With robots’ the longest travel time as a restrictive condition and the total cost minimum as the objective function, the integer programming model is established; In order to avoid robots colliding in the process of walking, a collision penalty term is introduced and a genetic algorithm with collision detection is designed. Using the genetic algorithm, the optimal solution of task allocation and path planning can be found effectively, the paths can avoid the robots collision. Finally, the model and algorithm are verified by a specific example.

multi-robot system collision detection integer programming model genetic algorithm

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