基于混合遗传禁忌搜索算法的多机器人任务分配  

Multi-robot Task Assignment Based on Hybrid Genetic Taboo Search Algorithm

作　　者：周航 秦实宏[1] 方泾丞 ZHOU Hang;QIN Shihong;FANG Jingcheng(School of Electrical and Information Engineering,Wuhan Institute of Technology,Wuhan 430205,China)

机构地区：[1]武汉工程大学电气信息学院,武汉430205

出　　处：《自动化与仪表》2023年第11期35-39,共5页Automation & Instrumentation

摘　　要：为解决传统遗传算法在求解仓储多机器人任务分配问题时,收敛速度慢且容易陷入局部极值的问题,该文提出一种混合遗传禁忌搜索算法。首先以机器人配送成本最小为目标建立数学模型;然后在传统的遗传算法中引入禁忌搜索算法中的禁忌表和藐视准则,来对遗传算法每次迭代后的种群进行优化调整,使得算法能够跳出局部最优且快速收敛。仿真结果表明,混合遗传禁忌搜索算法能有效地改善遗传算法的全局寻优能力,提升仓储的整体运行效率。In order to solve the problem that the traditional genetic algorithm converge slowly and tend to fall into local extremes when solving the task assignment problem of multi-robots,a hybrid genetic taboo search algorithm is proposed.Firstly,a mathematical model is set up to minimize the cost of robot distribution.Then we introduce the taboo table and the contempt criterion in the traditional genetic algorithm to optimize the population after each iteration of genetic algorithm,so that the algorithm can jump out of the local optimal and converge quickly.At last,the simulation results show that the hybrid genetic taboo search algorithm can effectively improve the global optimization ability of genetic algorithm and the overall operation efficiency of warehouse.

关 键 词：多机器人 任务分配 混合遗传禁忌搜索算法 禁忌表 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]