Abstract:In the dynamically perceived task environment with task-rich area,multi-robot foraging faces a lot of spatial conflictions caused by improper task allocation.In order to solve this problem,an autonomous task allocation method,which is based on an ant colony algorithm named repulsive pheromone ant colony algorithm(PR-ACA),is presented for the multi-robot system.Under the unknown unstructured environment,a simulation experiment of multi-robot cooperative foraging is performed.Experiment results show that the presented method can make multiple robots perform task allocation autonomously,and can effectively decrease spatial confliction among robots,especially when the group size is large.
[1] Farinelli A,Iocchi L,Nardi D,et al.Assignment of dynamically perceived tasks by token passing in multirobot systems[J].Proceedings of the IEEE.2006.94(7):1271-1288.
[2] Wang S L.Wang S.Cao Z Q.et al.Self-allocation of task in multirobot system[A].Proceedings of the IEEE International Conference on Control and Automation[C].Piscataway.NJ,USA:IEEE,2002 219-220.
[3] Kian H L,Leow W K,Ang M H Jr.Autonomic mobile sensor network with self-coordinated task allocation and execution[J].IEEE Transactions on Systems,Man and Cybernetics,Part C,2006,36(3):315-327.
[4] Krieger M J B,Billeter J B,Keller L.Ant-like task allocation and recruitment in cooperative robots[J].Nature,2000,406(6799):992-995.
[5] 岳富占.崔平远,崔祜涛.基于改进蚁群算法的星球探测机器人路径规划技术[J].控制与决策.2006.21(12):1437-1440.
[6] Krieger M J B,Billeter J B.The call of duly:Self-organised task allocation in a population of up to twelve mobile robots[J].Robotics and Autonomous Systems.2000.30(1-2):65-84.
[7] Das A,Grosu D.Combinatorial auction-based protocols for resource allocation in grids[EB/OL].http://ieeexplore.ieee.org/ie15/9722/30685/01420187.pdf.2005/2007.
[8] 丁滢颖,何衍,蒋静坪.基于蚁群算法的多机器人协作策略[J].机器人,2003,25(5):414-418.
[9] Vaughan R T,Stoy K,Sukhatme G S,et al.Whistling in the dark:Cooperative trail following in uncertain localization space[A].Proceedings of the International Conference on Autonomous Agents[C].New York.NY,USA:ACM,2000.187-194.