基于多目标优化的多机器人任务分配方法

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI:10.1109/ICARCV.2018.8581110

Jianping Chen, Jianbin Wang, Q. Xiao, Chang-Huang Chen

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引用次数: 12

摘要

在多机器人系统中，时间消耗和能量消耗是评价任务完成有效性的重要指标。在综合考虑这两个指标的基础上，提出了一种基于多目标(时间效用和能量效用)优化的多机器人任务分配方法(MOO-MRTA)。该方法给出了机器人能量效用函数的定义和构造。建立了基于多目标的任务分配模型，并讨论了该模型的求解问题等。RoboCup救援仿真实验表明，该方法具有搜索能力强、收敛速度快的优点，能够快速找到Pareto最优任务分配方案，帮助救援队伍获得理想的结果。

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A Multi-Robot Task Allocation Method Based on Multi-Objective Optimization

Time consumption and energy consumption are essential indicators for evaluating the effectiveness of task completion in multi-robot systems. On the basis of considering these two indicators, a Multi-Robot task allocation method based on multi-objective (time utility and energy utility) optimization (MOO-MRTA) is proposed. This method gives the definition and construction of the robotic energy utility function. It also establishes a model of task allocation based on multi-objective and discusses the problem of solving the model and so on. The RoboCup Rescue Simulation experiment shows that this method has the advantages of strong searching capacity, fast convergence rate, and that it can quickly find the Pareto optimal task allocation scheme and help the rescue team get an ideal result.

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来源期刊

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)

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