中文摘要：

本文提出广义蚁群算法．该算法设有多个蚂蚁群体，各群体的蚁穴和食物位置均不同，而且不同蚁穴对应不同食物．在设定的搜索时间范围内，各群体蚂蚁在蚁穴和食物间搜索到的最短路径上会加强信息素的强度，而调节其它路径上的信息素为零．各群体之间在行动时各走各的路径，不会发生碰撞．在环境改变时各群体会从各自的蚁穴，沿着加强的信息素趋向于各自的食物．将广义蚁群算法和仿射变换应用于机器人队形变换，效果较好.

英文摘要：

A general ant colony algorithm is proposed. In this algorithm, ants are supposed to be divided into several swarms and each swarm possesses its own nest and food at different places. During a preset period, ants from the same swarm increase the strength of pheromone on the shortest path which they have found between a food source and the nest. In the meanwhile, they adjust the strength of pheromone on other paths to zero. Each swarm moves on its own path and collision never occurs. When environment changes, the swarms crawl to their food along the increased pheromone. The general ant algorithm combined with the affine transformation is applied to the robot formation, and the results are effective.