结合粒子群算法与任务分配协调策略的仓储多机器人任务分配  

Task allocation of storage multi-robot based on particle swarm optimization and task allocation coordination strategy

作　　者：牛龙辉 陈海洋[1] 季野彪 NIU Longhui;CHEN Haiyang;JI Yebiao(School of Electronics and Information, Xi’an Polytechnic University, Xi’an 710048, China)

机构地区：[1]西安工程大学电子信息学院,陕西西安710048

出　　处：《西安工程大学学报》2020年第6期73-79,共7页Journal of Xi’an Polytechnic University

基　　金：国家自然科学基金(61573285)。

摘　　要：针对粒子群算法(particle swarm optimization,PSO)求解仓储物流多机器人任务分配(multi-robot task allocation,MRTA)中出现的重叠及过载问题,提出一种基于PSO算法的任务分配方法,实现对多机器人任务的合理分配。考虑到MRTA问题,定义分配半径的概念,建立多目标优化任务分配数学模型,采用PSO算法优化出解空间,然后利用协调策略对解空间出现的任务重叠、过载进行调节,保证系统获得最高收益。与PSO算法及灰狼算法对比仿真实验结果表明:提出的方法任务完成时间为74.0492 s,远低于其他2种算法的101.2631 s、82.4279 s,在系统收益方面,性能指标函数值稳定在114.87,均高于其他2种算法,且收敛速度很快。提出的方法在解决多机器人任务分配问题方面更加合理有效。In order to solve the problem of overlapping and overload in multi-robot task allocation(MRTA)of warehouse logistics based on particle swarm optimization,a task allocation method based on PSO algorithm is proposed to realize the reasonable allocation of multi-robot tasks.Considering the MRTA problem,the concept of allocation radius is defined,the mathematical model of multi-objective optimization task allocation is established,and the solution space is optimized by PSO algorithm.Then,the coordination strategy is used to adjust the overlapping and overload of tasks in the solution space to ensure the system to obtain the highest profit.Compared with PSO algorithm and gray wolf algorithm,the simulation results show that the task completion time of the proposed method is 74.0492 s,which is far lower than 101.2631 s and 82.4279 s of the other two algorithms.In terms of system revenue,the performance index function value of the proposed method is stabilized at 114.87,which is higher than the other two algorithms,and the convergence speed is fast.The results show that the proposed method is more reasonable and effective in solving the multi-robot task allocation problem.

关 键 词：粒子群算法(PSO) 仓储物流 分配半径 多机器人任务分配(MRTA) 分配协调策略 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]