Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

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
View PDF0 Cites 25 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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 scheme is an NP-hard problem. The research on multi-robot system task allocation is still in the initial stage, and there is still a long way to go.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Task allocation method of heterogeneous multi-robot system
  • Task allocation method of heterogeneous multi-robot system
  • Task allocation method of heterogeneous multi-robot system

Examples

Experimental program
Comparison scheme
Effect test

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;

...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com