关键词: 搜集任务, 多机器人系统, 强化学习, 协作

Abstract: To reduce the learning status space of complex foraging task and improve the learning speed , a double-deck hierarchical reinforcement learning with share zone is presented . The arithmetic can perform not only the lower hierarchical of state-action learning but also the higher hierachical of station-behavior learning . the higher hierachical of station-behavior learning can avoid the combination explosion of status space . the use of the share zone reinforces the ability of cooperative learning . Simulation results show that the arithmetic can improve the learning speed of robots and satisfy the time need of multi-robot complex foraging task in unknown environment .

Key words: foraging task, multi-robot systems, reinforcement learning, cooperative