eng Science and Education Publishing Journal of Mathematical Sciences and Applications 2333-8792 2016-11-02 4 1 34 38 10.12691/jmsa-4-1-6 JMSA2016416 article Zhenping Li lizhenping66@163.com 1 Xueting Li 1 School of Information, Beijing Wuzi University, Beijing, China 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. http://pubs.sciepub.com/jmsa/4/1/6/jmsa-4-1-6.pdf multi-robot system collision detection integer programming model genetic algorithm