Multi-Objective Teaching-Learning-Based Optimizer for a Multi-Weeding Robot Task Assignment Problem  

作　　者：Nianbo Kang Zhonghua Miao Quan-Ke Pan Weimin Li M.Fatih Tasgetiren 

机构地区：[1]School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China [2]School of Computer Engineering and Science,Shanghai University,Shanghai 200444,China [3]Industrial Engineering Department,Baskent University,Ankara 06790,Türkiye

出　　处：《Tsinghua Science and Technology》2024年第5期1249-1265,共17页清华大学学报自然科学版（英文版）

基　　金：supported by the National Natural Science Foundation of China(Nos.62273221 and 61973203);the Program of Shanghai Academic/Technology Research Leader(No.21XD1401000);the Shanghai Key Laboratory of Power Station Automation Technology.

摘　　要：With the emergence of the artificial intelligence era,all kinds of robots are traditionally used in agricultural production.However,studies concerning the robot task assignment problem in the agriculture field,which is closely related to the cost and efficiency of a smart farm,are limited.Therefore,a Multi-Weeding Robot Task Assignment(MWRTA)problem is addressed in this paper to minimize the maximum completion time and residual herbicide.A mathematical model is set up,and a Multi-Objective Teaching-Learning-Based Optimization(MOTLBO)algorithm is presented to solve the problem.In the MOTLBO algorithm,a heuristicbased initialization comprising an improved Nawaz Enscore,and Ham(NEH)heuristic and maximum loadbased heuristic is used to generate an initial population with a high level of quality and diversity.An effective teaching-learning-based optimization process is designed with a dynamic grouping mechanism and a redefined individual updating rule.A multi-neighborhood-based local search strategy is provided to balance the exploitation and exploration of the algorithm.Finally,a comprehensive experiment is conducted to compare the proposed algorithm with several state-of-the-art algorithms in the literature.Experimental results demonstrate the significant superiority of the proposed algorithm for solving the problem under consideration.

关 键 词：genetic algorithm heuristic algorithm Multi-Weeding Robot Task Assignment(MWRTA) teaching optimization algorithm 

分 类 号：TH186[机械工程—机械制造及自动化] TP18[自动化与计算机技术—控制理论与控制工程]