UAVs task allocation using multiple colonies of ants

The probabilistic roadmap method (PRM) has been successfully implemented in the motion planning field. But, when the sampled points are being connected to each other, collision check is an inevitable step, which is the most time-consuming operation of this method. A new method is proposed, in which the collision check operation is not necessary, and speed up the path planning operation. Based on the paths planed using this method, with the objective of minimizing the time that the UAVs used to complete all the tasks, an optimization method that uses multiple colonies of ants working together to solve the task allocation problem is designed. The simulation results show that it outperforms the genetic algorithm.