一种多机器人的任务分配和自动协商的方法  

A Method of Task Allocation and Automated Negotiation for Multi-robots

作　　者：皮玉珍[1,2] 苑全德 舒英利[1] PI Yu-zhen(Changchun Institute of Technology, Changchun 130012, China)

机构地区：[1]长春工程学院 [2]吉林省配电设备自动化产业公共技术研发中心,长春130012

出　　处：《长春工程学院学报（自然科学版）》2016年第1期53-56,共4页Journal of Changchun Institute of Technology：Natural Sciences Edition

基　　金：吉林省科技厅项目(20150204008SF;20130206049GX;201301010052JC);吉林省教育厅项目(2013296;2014324;2014339;2014327;2014309)

摘　　要：提出了一种多机器人的任务分配和自动协商的方法。在进行任务分配时充分考虑机器人的真正性能;构建自动协商的模型时,改进最小二乘法支持向量回归算法(LSSVR),用于估计对手的谈判效用,并采用鲁棒控制器的输出反馈变量来限制优化实用性能指标,然后提出协商和再分配的协议来提高实时性和任务分配效率。最后,通过仿真实验来验证次方法的有效性。A method of task allocation and automated negotiation for multi robots has been proposed.In the paper,the principles of task allocation are described based on the real capability of robot.During the construction of automated negotiation model,Least Squares Support Vector Regression(LSSVR)has been improved to estimate the opponent's negotiation utility,and the robust controller of output feedback has been employed to optimize the utility performance indicators.Then,the protocol of negotiation and reallocation has been proposed to improve the real time capability and task allocation.Finally,the validity of method is proved through experiments.

关 键 词：多机器人 任务分配 协商 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]