Heterogeneous multi-robot task scheduling method and system based on multistage feedback queue

Abstract

The invention provides a heterogeneous multi-robot task scheduling method and system based on a multistage feedback queue, and the method comprises the steps: constructing a distributed coordination framework, and achieving the information synchronization between the multistage feedback queue and a robot system based on the constructed distributed coordination framework; dividing the multi-level feedback queue state table into a plurality of execution task priorities, carrying out task state distinguishing, and dynamically changing task levels and task states according to execution conditions; tasks are scheduled for the heterogeneous multiple robots according to the multi-level feedback queue state table, and robot state information is dynamically changed according to the execution conditions of the robots. According to the method, the problem that the heterogeneous multiple robots reasonably schedule tasks under the conditions of large task time difference and complicated and dense tasks is solved, and the problems that the heterogeneous multiple robots are unreasonable in task allocation, too many resources are needed by a certain task and the like are reduced through a multi-stage feedback queue method; and the capability of reasonably distributing and planning the robot group in a complex task scene is improved.

Description

technical field [0001] The invention relates to the field of multi-robot control, in particular to a method and system for scheduling tasks of heterogeneous multi-robots based on multi-level feedback queues. Background technique [0002] In complex and changeable multi-task scenarios, such as alerting, patrolling, and driving away in unmanned island duty scenarios, and tasks such as handling, positioning, and disassembly in 3C assembly scenarios, the work that a single robot can complete is very limited, and multiple heterogeneous robots work together. Work is one of the best means of accomplishing complex scene tasks. The multi-robot system improves the performance of a single robot by communicating, collaborating and sharing information, such as simple individual behavior rules, short working time, small effective task range, low work efficiency, and improves the high efficiency, robustness, flexibility and fault tolerance of task execution. It also covers distributed dec...

AI Technical Summary

Problems solved by technology

However, the task allocation and reasonable scheduling of multiple robots is a problem that requires careful operation. If the task allocation is unreasonable and the group cooperation is not unified, it will cause waste of resources, robots interfere with each other, and the execution time of a single task is too long and the execution time of another task is too long. The task cannot be performed, etc.

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