弱通信条件下多机器人任务分配  

Task allocation of multiple robots in limited communication

作　　者：吴俊伟[1] 张汝波[1,2] 刘冠群[1] 于大海[2] 

机构地区：[1]大连民族学院机电信息工程学院,辽宁大连116600 [2]哈尔滨工程大学计算机科学与技术学院,黑龙江哈尔滨150001

出　　处：《华中科技大学学报（自然科学版）》2013年第S1期73-76,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(60975071);大连民族学院人才引进科研启动基金资助项目

摘　　要：研究了动态环境、资源受限、弱通信条件的多机器人任务分配问题.首先讨论了机器人团队的资源消耗函数和资源福利函数;然后提出了基于资源福利函数的多机器人任务分配算法,有效地延长了机器人的使用时间,平衡了机器人团队资源消耗;最后通过模拟仿真实验验证基于资源福利函数的任务分配算法在最小资源消耗和任务完成率两方面的性能表现.A distributed task allocation algorithm for multiple robots in an unknown dynamic,limited energy resources and weak communication environment was presented.First,the resource consump-tions function and social welfare function were discussed in this paper.And then the task allocation of multiple robots based on resource welfare was presented.The approach proposed extended the operational lifetime of the team by balancing resource consumptions among robots.Finally,the simulation experiments were carried on and the algorithm performance based on resource consumptions function and resource welfare function were verified in minimum resource consumptions and task completion ratio.

关 键 词：机器人 弱通信 资源受限 任务分配 资源福利函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]