Trajectory Planning for Multi-robot Formation by One Hybrid Particle Swarm Optimization Algorithm

A hybrid particle swarm optimization (PSO) algorithm which consists of continuous and discrete PSO algorithm is introduced to solve the trajectory planning problem of multi-robot formation. The continuous PSO algorithm is utilized to optimize the center position and rotation angle of the desired formation, while the discrete PSO algorithm is to optimize the matching relationship between the initial and target positions. To demonstrate the correctness and validity of the proposed algorithm, simulation results of the trajectory planning for typical formation and another transformed formation are presented.