一种多机器人系统任务分配规划算法  

A Kind of Multi-robot System Task Allocation Planning Algorithm

作　　者：郭季[1] 周明[2] 

机构地区：[1]安阳师范学院物理与电气学院,河南安阳455000 [2]海军大连舰艇学院水下作战研究所,辽宁大连116018

出　　处：《火力与指挥控制》2014年第5期107-110,共4页Fire Control & Command Control

基　　金：国家自然科学基金资助项目(51209174)

摘　　要：针对一类可将复杂任务分解为多目标集合的任务分配问题,提出了一种基于网络图的多机器人系统任务分配规划算法。首先根据目标集合和机器人系统的初始状态,建立对应的网络图。在此基础上,将任务分配问题转换为受约束的最少成本流程问题。为保证获得目标集合的最优解,提出一种结合分支界限原理和拉格朗日松弛原理的最优求解算法。在仿真中,利用提出的算法求解随机设定位置的机器人和目标点集,仿真结果表明,提出的算法可以实现目标点集的优化分配。A multiple robots task allocation algorithm for a type of problem which can be divided into multiple targets set is presented. Firstly,a network based on the initial condition of targets set and robots system is introduced,then the task allocation problem is transferred to a constrained minimum cost problem over the network. In order to obtain the optimal solution,a kind of optimal algorithm combined with the theory of Branch and Bound and Lagrange relaxation is proposed. The proposed algorithm is used in simulation to resolve the problem that from random multiple robots position and targets set. Simulation results show that the method could satisfy the goal of optimal allocation.

关 键 词：机器人 任务分配 成本流程 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]