无人化仓库下异构机器人混合任务分配研究  

Research on Hybrid Task Allocation of Heterogeneous Robots in Unmanned Storage

作　　者：王军茹[1] 张菂 孙广彬 WANG Junru;ZHANG Di;SUN Guangbin(School of Automation,Beijing Information Science&Technology University;Beijing Metin Technology Co.,Ltd)

机构地区：[1]北京信息科技大学自动化学院 [2]壹佰米机器人技术(北京)有限公司

出　　处：《仪表技术与传感器》2024年第6期53-60,78,共9页Instrument Technique and Sensor

基　　金：国家自然科学基金项目(61573230);北京市自然科学基金项目(4142017)。

摘　　要：在具有若干个障碍区的码头无人化仓库中,为解决异构机器人系统对混合任务的有效分配问题,文中提出一种模糊聚类融合的扩展一致性束算法。在采用模糊聚类划分任务子区域和利用时间窗设置混合任务执行顺序的基础上,提出机器人分组资源配置策略,以任务分配收益最大、运行时间最短为目标,建立异构机器人系统任务分配的数学模型,通过扩展一致性束算法,在各个子区域内完成任务分配。结果表明:扩展一致性束算法缩短了任务分配时间,得到各子区域内机器人的执行任务序列并且每架机器人所分配到的任务数保持均衡。With several obstacles in the wharf unmanned storage,to solve the heterogeneous robot system of the hybrid task allocation problem effectively,this paper put forward a kind of extension of the consistency fuzzy clustering fusion algorithm.Based on using fuzzy clustering to divide task sub-regions and using the time window to set the execution order of hybrid tasks,a robot grouping resource allocation strategy was proposed.The mathematical model of task allocation of heterogeneous robot systems was established to maximize the profit of task allocation and minimize the running time,and the task allocation was completed in each sub-region through the extended consistency bundle algorithm.The results show that the extended consensus-based bundle algo-rithm shortens the task allocation time,obtains the task sequence of robots in each sub-area,and the number of tasks assigned to each robot is balanced.

关 键 词：无人化仓库 异构机器人系统 混合任务分配 时间窗 机器人分组资源配置策略 一致性束算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]