Multi robot distance based formation using Parallel Genetic Algorithm

In this paper an alternative method to achieve distance based formation is presented. The method uses Genetic Algorithms to find a suitable solution based on angle and distance, and an appropriate constant velocity to avoid collisions. The designed algorithm is extended to a parallel scheme to improve its performance and achieve Artificial Distributed Intelligence, in which the robots share, through solution migration, the best ways to converge to desired distances while avoiding collisions, finally reaching consensus on the solution. The algorithm is tested using simulations and real robots experiments. (C) 2019 Elsevier B.V. All rights reserved.