Abstract: We proposed a centralized ant colony planning approach for multirobot mission planning problem. The task allocation model and route planning model of ant colony algorithm description were built, meanwhile, local search strategy was utilized to improve ant colony algorithm assignment effect. At last, we achieved a centralized multi-robot mission planning system for experiments analysis. The results show that ant colony algorithm can solve the multi-robot mission planning problem effectively,and provide a new idea for multi-robot coordination mechanisms.

Key words: Multi-robot, Mission planning, Ant colony algorithm, Centralized allocation, Route planning