Task allocation method for multi-search and rescue robot system

Abstract

The invention discloses a task allocation method for a multi-rescue-robot system and aims to provide a method which may allocate tasks even when the number of communication-available robots is less than the number of tasks. The method comprises steps of: creating and initializing a multi-rescue-robot system, wherein each rescue robot is equipped with a task allocation subsystem; regulating a communication relation among the rescue robots and solving a problem that the number of robots available for communication with a central node robot is less than the number of the tasks by using a communication proxy strategy; enabling the multi-rescue-robot system to compute a comprehensive capability for executing the tasks and enabling the central node robot to compute an optimal task allocation scheme to obtain a task allocation list; and allocating the tasks to the executive rescue robots according to the task allocation list. The method solves the problem that the number of robots available for communication with the task-allocating rescue robot is less than the number of the tasks, fully takes account of an influence of the comprehensive capabilities of the robots on task completion efficiency, and increases a task allocation success rate.

Description

technical field [0001] The invention relates to a task allocation method for multiple distributed search and rescue robots in environments such as post-disaster rescue and battlefield search and rescue, especially a task allocation method for multi-robots to cooperate to complete rescue tasks in a large-scale dynamic and complex environment with harsh communication environments method. Background technique [0002] The use of search and rescue robots to replace rescuers in operations such as post-disaster rescue, large-scale battlefield search and rescue, complex terrain rescue, and high-risk environment rescue can improve rescue efficiency and reduce threats to rescuers. However, due to the limited ability of a single robot, multiple robots often need to cooperate with each other to complete the search and rescue mission. In order to enable different robots to cooperate with each other to complete rescue tasks autonomously, it is necessary to provide task assignment method...

AI Technical Summary

Problems solved by technology

However, the centralized task allocation method has high requirements on the computing performance of the central node and poor adaptability to the communication environment.

Distributed task assignment methods include behavior-based methods, market mechanism-based methods, swarm intelligence methods, etc. The current market-based task assignment methods have good environmental adaptability, and consider robot performance differences and task assignment results in the task assignment process. Close to the global optimal solution and other advantages, but the existing distributed task algorithm has not given too much consideration to the problem (1)

Current tasking algorithms do not take into account the situation where the tasking robot is able to communicate with fewer robots than the number of tasks that need to be allocated

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