考虑时序约束的多智能体协同任务分配  

Multi-agents cooperative task allocation with precedence constrains

作　　者：颜骥[1] 李相民[1,2] 刘波[2] 

机构地区：[1]海军航空工程学院兵器科学与技术系,山东烟台264001 [2]洛阳电光设备研究所光电控制技术重点实验室,河南洛阳471023

出　　处：《控制与决策》2015年第11期1999-2003,共5页Control and Decision

基　　金：航空科学基金项目(20135184008)

摘　　要：研究多智能体系统的多目标多任务分配问题,考虑任务之间的时序关系,建立分布式任务分配模型.扩展了一致性包算法(CBBA),按优先级将目标任务归入不同层级,各智能体在构建任务包和任务路径时,只将分配过高阶段任务的目标添加至相应的任务包和任务路径中,从而保证目标任务时序约束的同时,保持了CBBA算法的特性.与多任务分配问题经典算法的比对实验表明,所提出的改进算法求解结果稳定可靠,运行时间优于经典算法.The multi-target, multi-task assignment problem for multi-agents systems is studied. By considering the precedence relationships between the tasks, the model of the distributed task allocation for agents is established. The consensus-based bundle algorithm（CBBA） is extended by distributing tasks to different layers according to its precedence.Targets are only allowed to add to the bundle and path of an agent when its precedence task has been assigned, so that the precedence constrains are satisfied, and the properties of CBBA are preserved. The simulation of comparing verifies the proposed task planning methodology for complex missions.

关 键 词：一致性包算法 分布式任务分配 多智能体系统 时序约束 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]