Heterogeneous Ant Algorithm

This article deals with the problem of effective control of a heterogeneous swarm of robots. It is shown that the maximum efficiency, in the case of heterogeneous swarms of robots, can be achieved only in the case of specialization of robots in the delivery of those types of resources in the delivery of which they have a relative advantage. In this work, a heterogeneous ant algorithm is proposed, which allows to ensure the efficient operation of heterogeneous robots for the delivery of two types of resources. The heterogeneous ant algorithm is workable and can be successfully used to organize the work of a swarm of robots consisting of two types of robots that have different technical characteristics and, accordingly, may have different degrees of suitability for performing the same tasks. In the course of computer simulation, it was confirmed both the efficiency of the algorithm and the ability of a swarm of robots, under its control, to adapt to changes in external factors.