Multi-UGV Cooperative Task Allocation base on Ant Colony Optimization

In view of the collaborative task allocation of multiple UGV to complete multiple ground target tasks in the factory environment, the maximum task capability of UGV, all inspection task objectives must be executed, and each inspection task target can only be inspected by the corresponding UGV once. The cost benefit index is designed to comprehensively consider the UGV task benefit and the task power consumption cost. An improved ant colony algorithm is proposed for this problem. The ants are selected according to the comprehensive remaining task ability, the tasks to be selected are determined according to the tasks to be added, and the problem of poor local search ability is improved with the 2-opt algorithm. Simulation results show that this improved ant colony algorithm can well obtain the UGV task allocation scheme that meets the constraints, the overall power consumption of three UGVs is smaller, the task of each UGV is more balanced, and can meet the requirements of task allocation.