Task allocation method of heterogeneous multi-robot system

A multi-robot and task distribution technology, applied in the direction of program control, manipulators, manufacturing tools, etc. in the sequence/logic controller, to achieve the effect of ensuring continuity, improving average efficiency, and achieving a large degree of completion

Inactive Publication Date: 2010-01-06
CHONGQING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, some research results have been obtained on multi-robot system task allocation. However, solving the multi-robot system task allocation

Method used

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  • Task allocation method of heterogeneous multi-robot system
  • Task allocation method of heterogeneous multi-robot system
  • Task allocation method of heterogeneous multi-robot system

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Experimental program
Comparison scheme
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Embodiment Construction

[0031] Preferred embodiments of the present invention will be described in detail below.

[0032] First, explain the following parameters:

[0033] τ j : pheromone on subtask j;

[0034] n ij =1 / d ij : the reciprocal of the distance between robot i and subtask j;

[0035] C i : Robot capability configuration vector, which refers to the functions of robot i itself;

[0036] m j : The capability requirement vector of the subtask, which refers to the functions required to execute the subtask j;

[0037] K ij : Ability matching parameter, indicating whether robot i is suitable for performing a certain subtask j;

[0038] L ij : Robot i’s performance level parameter for subtask j;

[0039] p ij : robot i’s selection probability variable for subtask j;

[0040] A j : the number of robots currently executing subtask j;

[0041] N j : The upper limit of the number of robots required for subtask j;

[0042] T j : the total amount of subtask j, which is a constant;

...

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Abstract

The invention belongs to the field of automatic control, in particular relates to a task allocation method of a heterogeneous multi-robot system, which comprises the following steps: S1, initializing robots and subtask parameters; S2, executing subtasks with high information concentration near the robots and close to self-capacity and subtask ability requirement by the robots, wherein the robots are skilled in the subtasks. The invention fully considers the influence of a functional structure of the multi-robot system to the task allocation of the multi-robot system, and realizes the task allocation of the heterogeneous multi-robot system.

Description

technical field [0001] The invention belongs to the field of automatic control, and in particular relates to a task distribution method of a heterogeneous multi-robot system. Background technique [0002] As one of the greatest inventions of mankind in the 20th century, robots have undergone rapid changes in just over 40 years. In recent years, robots have become a representative strategic goal in the high-tech field. The emergence and development of robotics not only fundamentally changes the traditional industrial production, but also has a profound impact on human society. With the rapid development of social production technology, the application fields of robots continue to expand. Robots are everywhere, from automated production lines to the exploration of ocean resources, and even space operations. However, as far as the current level of robot technology is concerned, a single robot is limited in terms of information acquisition, processing, and control capabilitie...

Claims

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Application Information

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IPC IPC(8): B25J13/00G05B19/04
Inventor 张毅罗元李敏谢颖袁威蔡军仇国庆林海波徐洋刘璐
Owner CHONGQING UNIV OF POSTS & TELECOMM
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