基于一种蚁群算法的多机器人动态感知任务分配  

Multi-robot Dynamically Perceived Task Allocation Based on an Ant Colony Algorithm

作　　者：姜健[1] 臧希喆[1] 闫继宏[1] 赵杰[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《机器人》2008年第3期254-258,263,共6页Robot

基　　金：国家863计划资助项目(2006AA04Z245);教育部长江学者和创新团队发展计划资助项目(IRT0423)

摘　　要：多机器人系统在具有任务聚集特征的动态感知任务环境下执行搜集任务时,存在着由于任务分配不当而引起的冲突加剧问题.针对这一问题,提出了一种基于排斥信息素型蚁群算法的多机器人任务自主分配方法.进行了未知非结构化环境下的多机器人协作搜集仿真实验.仿真结果表明,采用本文所提方法可以实现多机器人搜集任务的自主分配,有效减少机器人的空间冲突,尤其在机器人数量较多的情况下,更能显示出该方法的优势.In the dynamically perceived task environment with task-rich area, multi-rol,ot foraging faces a lot of spatial conflictions caused by improper task allocation. In order to solve this problem, an autonomous task allocation method, which is based on an ant colony algorithm named repulsive pheromone ant colony algorithm （ PR-ACA）, is presented for the multirobot system. Under the unknown unstructured environment, a simulation experiment of multi-robot cooperative foraging is performed. Experiment results show that the presented method can make multiple robots perform task allocation autonomously, and can effectively decrease spatial conflietion among robots, especially when the group size is large.

关 键 词：多机器人协作 动态感知任务 蚁群算法 任务分配 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]