基于市场法及能力分类的多机器人任务分配方法

Multi-robot Task Allocation Based on Market and Capability Classification

  • 摘要: 针对多机器人系统研究中如何有效地实现复杂任务的分布式动态分配这个基础性问题,提出了一种对这类问题进行形式化描述的一般方法.该方法从能力分类的角度出发,提出了机器人及任务能力向量的概念,并对多机器人任务分配问题进行了形式化描述,讨论了单个及多个机器人合作完成任务的能力条件.基于这种形式化描述方法,提出了一种采用市场机制的完全分布式的多机器人任务分配方法.仿真实验结果表明该方法能够有效地实现多机器人复杂任务的动态分布式分配.

     

    Abstract: In order to achieve complex task allocation dynamically and effectively in multi-robot systems,a general formal description method is presented.The proposed method defines both robot and task capability vectors from the viewpoint of capability classification,and formally describes the multi-robot task allocation problem.Task accomplishment conditions are discussed for both single and multiple robots.Based on this formal description method,a novel market-based wholly distri-buted multi-robot task allocation method is proposed.Simulation results show that this method can achieve complex task(allocation) effectively and dynamically in multi-robot systems in a wholly distributed way.

     

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