A Multi-agent Cooperative Task Assignment Method Without Conflict

Abstract

An embodiment of the present invention provides a multi-agent non-conflict cooperative task assignment method, the method includes: performing task modeling on a multi-agent network; using a grid to perform resource modeling for the location of a scene; planning the relationship between an agent and each task The path between each location point is obtained; the time consumption between the agent and each task is calculated according to the moving path; for the tasks performed by the agent in the scene described, such tasks are decomposed into multiple simple tasks; In the coding process, repair unreasonable coding and determine the rationality of various codings; use intelligent evolutionary algorithms to analyze task allocation problems, and obtain the optimal solution of the current step; analyze path resource conflicts in the optimal solution, detect and avoid resource conflicts ; Through the whole algorithm process, the non-conflict cooperative task assignment of the multi-agent system is completed. By using the embodiments of the present invention, the efficiency of task allocation and execution in complex task allocation scenarios is improved, and shared resource conflicts are 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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