改进适应度的异构多机器人任务分配  

The task allocation for improved fitness-based heterogeneous multi-robot

作　　者：张万绪[1] 冯晓海[1] 赵江波[1] 卢恩超[1] 李莹[1] 

机构地区：[1]西北大学信息科学与技术学院,陕西西安710127

出　　处：《西北大学学报（自然科学版）》2013年第1期22-26,共5页Journal of Northwest University（Natural Science Edition）

摘　　要：目的探究基于适应度的异构机器人系统模型与外部适应度的特点,提高系统性能与任务分配结果。方法应用数学模拟法分别研究机器人与任务,实证研究法验证外部适应度算法。结果对于机器人模型与任务模型,采用机器人原始性能参数建模;外部适应度采用正余切函数构成的算法,实现了任务最优分配。结论改进后的数学模型提高了系统的鲁棒性与可扩展性,改进外部适应度算法更为有效的反映机器人与任务间的匹配关系,为系统任务分配提供了可靠依据。Aim To study fitness-based heterogeneous robot in terms of system model characteristics, and external fitness characteristics and to improve the system performance and task allocation results. Methods The mathemati- cal simulation is applied to study robots and tasks, empirical research method to verify that external fitness algo- rithm. Results The robot model and the task model have been built by using the the robot raw performance param- eters; positive cotangent external adaptation of the algorithm has achieved the optimal allocation of tasks. Conclu- sion Improved mathematical models improve system robustness and scalability, improving the matching relation- ship between the external adaptation algorithm can more effectively reflect the matching relationship between the ro- bot with the task, and provide a reliable basis for the allocation of system tasks.

关 键 词：异构 多机器人 任务分配 适应度 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]