Particle Swarm Optimization Based Co-Operative Task Assignment and Path Planning for Multi-Agent System

In this paper, a framework for co-operative path planning and task assignment of a multi-agent system is presented. For a candidate algorithm, it is difficult to handle multiple agents in dynamic environments, where it is necessary to replan a new path to perform the given tasks without any collision. To address this problem, a path-planning algorithm based on Particle Swarm Optimization is proposed here to find an optimal path for the multi-agent system working under certain prescribed tasks. The proposed framework is shown to be highly effective due to its reactive management structure to fulfil its mission successfully. The simulation results show that it is a reliable and robust way of solving co-operative path planning problems.