基于遗传算法的多移动机器人协同调度方案  

Multiple Mobile Robots Coordination Scheduling Scheme Based on Genetic Algorithm

作　　者：陈鹏慧[1] 蔡琼[1] 彭华顺 

机构地区：[1]湖南信息职业技术学院电子工程学院,长沙410200

出　　处：《微型电脑应用》2016年第7期34-38,共5页Microcomputer Applications

基　　金：湖南省自然科学基金项目(14JJ7071)

摘　　要：针对柔性制造系统(FMS)中多移动机器人的协同调度问题,提出了一种基于遗传算法(GA)的协同调度优化方案。首先,将非抢占式任务和移动机器人的动作编码成一个染色体。然后,对染色体进行交叉、突变过程,以产生新染色体,并对不符合要求的染色体进行修复。再后,以总完成时间作为适应度值来评估染色体的质量,并选择下一代的母体。重复迭代过程,获得最优染色体,实现最小化任务完成时间。实验结果表明,该方案能够获得最优的调度方案,非常适用于具有制造和运输任务的机器人调度应用。For the issues that the cooperative scheduling problem of multiple mobile robots in flexible manufacturing system（FMS）,a collaborative scheduling optimization scheme based on genetic algorithm（GA） is proposed.First,the non preemptive task and the movement of the robot are encoded into a chromosome.Then,the crossover and mutation process of the chromosome is carried out to generate the new chromosome,and repair the chromosome that does not meet the requirements.After that,the total completion time is used as the fitaess value to evaluate the quality of the chromosome,and select the next generation of the population.Repeated iterative process,to obtain the optimal chromosome,and to achieve the task of minimi zing the completion time.Experimental results show that the proposed scheme can obtain the optimal scheduling scheme,which is very suitable for robot scheduling applications with manufacturing and transportation tasks.

关 键 词：移动机器人 协同调度 遗传算法 最小化任务完成时间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]