Task allocation method and system for unmanned distribution vehicles, and unmanned distribution vehicle

Abstract

The invention discloses a task allocation method and a system for unmanned distribution vehicles, and an unmanned distribution vehicle, which relate to the field of unmanned distribution. The method comprises the following steps: each unmanned distribution vehicle determines a distribution task set, wherein the distance from the position of a task point in each distribution task set to the position of the corresponding unmanned distribution vehicle is smaller than a distance threshold, and the difference in task number between any two unmanned distribution task sets is smaller than a number threshold; negotiation task sets between adjacent unmanned distribution vehicles are built using a clustering algorithm based on the distribution task sets; and the unmanned distribution vehicles complete task allocation through a negotiation mechanism according to the negotiation task sets between adjacent unmanned distribution vehicles. Each unmanned distribution vehicle is enabled to acquire reasonable allocation task points in the absence of a central computing node or main node, and uniform task load is achieved. In addition, by building the negotiation task sets between adjacent unmanned distribution vehicles using a clustering algorithm, the number of negotiation tasks is reduced greatly, and the execution efficiency of unmanned distribution vehicles is improved.

Description

technical field [0001] The present invention relates to the field of unmanned delivery, in particular to a task assignment method and system for an unmanned delivery vehicle and an unmanned delivery vehicle. Background technique [0002] For an unmanned delivery system composed of multiple unmanned delivery vehicles, it is necessary to reasonably assign tasks to delivery vehicles according to various conditions such as delivery task content, location, and importance, so a corresponding task allocation method is required to realize this function. [0003] In the field of multi-robots, a task list can be formed based on the individual ability model and evaluation method of heterogeneous robots, and a task allocation scheme can be proposed based on the task list. However, this scheme mainly adopts a centralized allocation method and does not make full use of the calculation of the robot itself ability, reducing the reliability and robustness of the multi-robot system. In addit...

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Problems solved by technology

[0003] In the field of multi-robots, a task list can be formed based on the individual ability model and evaluation method of heterogeneous robots, and a task allocation scheme can be proposed based on the task list. However, this scheme mainly adopts a centralized allocation method and does not make full use of the calculation of the robot itself capabilities, reducing the reliability and robustness of multi-robot systems

In addition, the weighted summation method can also be used to model the time utility target and energy utility target to realize the quantitative evaluation index of multi-robot system task allocation, so as to realize task allocation, but this scheme does not consider the difference between the tasks performed, and It is somewhat different from the application scenarios of unmanned delivery vehicles

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