Affine Transformation of Multiple Mobile Robot Formation by Generalized Ant Colony Optimization

Transformation of a multi-robot formation is one of basic problems of coordination. A transformation scheme for the multi-robot formation is proposed in this paper by imposing algorithms of affine transformation and generalized ant colony optimization (GACO). The affine transformation pre-determine target positions of each robot. Then, the GACO algorithm can help the robots find the shortest paths to their target positions. The coordination between robots is obtained by the sense and communication technology, which is supposed to be equipped in the robots. The sense can make the robot perceive obstacles as well as its neighbors in the natural environment, especially, in a blind area. Therefore, the multi-robot system can change its formation to the new one without any collision. The proposed transformation is effectively used in a simulation of a seven-robot system by Star-Logo.