Multi-Robot Motion Planning Using Swarm Intelligence

Abstract

Swarm intelligence theory is proposed for motion planning of multi-robot systems. Multiple particles start from different points in the solutions space and interact to each other while moving towards the goal position. Swarm intelligence theory is a derivative-free approach to the problem of multi-robotcooperation which works by searching iteratively in regions defined by each robot's best previous move and the best previous move of its neighbors. The method's performance is evaluated through simulation tests.

Keywords

• swarm intelligence
• multi-robot system
• motion planning
• stochastic search algorithms
• Lyapunov stability.