双机器人的任务分配和协同作业算法研究  

Research on Task Allocation and Cooperative Operation Algorithm of Dual Robots

作　　者：李铁军[1,2] 赵博言 刘今越 贾晓辉[1] 唐春瑞[1] LI Tiejun;ZHAO Boyan;LIU Jinyue;JIA Xiaohui;TANG Chunrui(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China;School of Mechanical Engineering,Hebei University of Science and Technology,Shijiazhuang 050018,China)

机构地区：[1]河北工业大学机械工程学院,天津300401 [2]河北科技大学机械工程学院,河北石家庄050018

出　　处：《控制工程》2025年第4期577-585,共9页Control Engineering of China

基　　金：国家重点研发计划项目(2019YFB1312103);国家自然科学基金资助项目(U1813222,U20A20283)。

摘　　要：针对双机器人难以实现合理的任务分配和协同作业的问题,提出了一种基于工作量平衡机制与主从协同蚁群优化算法完成双机器人的任务分配和协同作业的方法。首先,基于任务点集合建立不平衡任务指派模型,任务分配阶段通过迭代路径规划算法平衡两机器人的工作量。然后,通过主从协同蚁群优化算法解算机器人之间避免干涉且保持工作量最小的多目标协同作业优化模型。最后,结合钢筋绑扎场景展开实验,实验结果表明,所提方法可以在两机器人之间实现合理的任务分配,减少二者的工作差异量,使其高效地完成钢筋绑扎作业,并且可以有效避免机器人在作业过程中发生干涉。To solve the problem that it is difficult for dual robots to achieve reasonable task allocation and cooperative operation,a method based on workload balance mechanism and master-slave cooperative ant colony optimization algorithm is proposed to accomplish task allocation and cooperative operation of dual robots.Firstly,an unbalanced task allocation model is established based on the task point set,and the path planning algorithm is iterated in the task assignment stage to balance the workload of the two robots.Then,the master-slave cooperative ant colony optimization algorithm is used to solve the multi-objective cooperative operation optimization model that avoids interference among robots and keeps the workload minimum.Finally,the experiment is carried out in combination with the reinforcement binding scene,the experimental results show that the proposed method can achieve reasonable task allocation between the two robots,reduce the workload difference between the two robots,make them efficiently complete the reinforcement binding operation,and effectively avoid the robot interference in the operation process.

关 键 词：双机器人 任务分配 主从协同 蚁群优化算法 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]