A multi-Agent conflict-free cooperative task allocation method

Abstract

The embodiments of the invention provide a multi-Agent conflict-free cooperative task allocation method comprising the steps of: performing task modeling on a multi-agent network; for positions of scenes, performing resource modeling by using grids; planning routes between agents and each task and obtaining the optimal routes between position points; calculating time consumption between the agentsand each task according to the moving routes; decomposing each task performed collaboratively by the agents in the scenes into multiple simple tasks; in the process of encoding, repairing unreasonable encoding and determining the reasonability of all kinds of encoding; analyzing task allocation problems by using an intelligent evolutionary algorithm to obtain the optimal solution of the current step; analyzing route resource conflicts in the optimal solution, performing detection and avoiding resource conflicts; completing conflict-free cooperative task allocation of a multi-agent system through the whole algorithm process. According to the embodiments of the invention, the efficiency of task allocation and performing in complex task allocation scenes is improved and shared resource conflicts is avoided.

Description

technical field [0001] The invention relates to the field of multi-Agent task assignment, and more specifically relates to a multi-Agent cooperative task assignment method which avoids shared resource conflicts. Background technique [0002] Cooperative task assignment means that a group of agents cooperate to solve a task, that is, agents cooperate to achieve a common goal. For tasks that cannot be accomplished by a single agent, agent collaboration can increase agent efficiency and allow more complex tasks to be performed. The advantages of agent collaboration are as follows: For an agent, it is impossible to complete some complex tasks independently, because the space of a single agent is limited. It may be cheaper and easier to use multiple simple agents than one complex agent. Multi-agent systems are more flexible and fault-tolerant than single-agent systems. [0003] In the current research and experiment process, in order to enable multi-agents to complete tasks co...

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Problems solved by technology

[0004] However, conflict avoidance and time-consuming costs are usually two incomparable and conflicting aspects in the process of multi-agents performing tasks, that is, it is difficult to take into account the minimum time consumption and avoid conflicts at the same time, that is, when multi-agents complete a certain In the process of the task, in order to make the time cost less, the optimal path will be selected, but in this case, it will inevitably cause conflicts between agents

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