Abstract:In order to solve the problem of the unreasonable path planning of multi robot synchronous welding, an ant colony based fusion algorithm (APG) is proposed. Firstly, the problem of multi robot path planning is transformed into a MTSP mathematical model, and transforms the MTSP problem into multiple TSP problems by kmeans algorithm; secondly, compared with the ACO algorithm and the PSO_GA algorithm, the proposed APG algorithm is superior to the experimental results on the optimization of the TSP problem; finally, a threedimensional model is established in ROBCAD, and the problems existing in the practical applications such as accessibility and interferometry are simulated to verify the effectiveness of the algorithm. The experimental results show that the proposed APG algorithm can get a better path compared with other path planning algorithms.