Pheromone based multi-robot cooperative task allocation

Computer Engineering and Applications ›› 2008, Vol. 44 ›› Issue (2): 20-22.

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Pheromone based multi-robot cooperative task allocation

JIANG Jian,YAN Ji-hong,ZANG Xi-zhe,ZHAO Jie

Robotics Institute，Harbin Institute of Technology，Harbin 150001，China

Received:1900-01-01 Revised:1900-01-01 Online:2008-01-11 Published:2008-01-11
Contact: JIANG Jian

基于信息素的多机器人协作任务分配

姜健,闫继宏,臧希喆,赵杰

哈尔滨工业大学机器人研究所，哈尔滨 150001

通讯作者: 姜健

Abstract

Abstract: A method combining Artificial Attraction Pheromone（AAP） with Artificial Repulsion Pheromone（ARP） is presented to solve the problem of multi-robot task allocation.Under the unknown structured environment，multi-robot cooperative foraging experiment is performed.Experiment results show that the method presented in the paper can not only avoid spatial confliction among robots，but also can make the multi-robot system perform task allocation autonomously and effectively.

Key words: multi-robot system, pheromone, ant colony algorithms, task allocation, foraging

摘要： 针对多机器人系统未知环境下自主任务分配问题，提出了将虚拟吸引信息素和虚拟排斥信息素相结合的多机器人任务分配方法。在动态未知环境下，进行了多机器人协作搜集实验，实验结果表明所提方法既可以避免多个机器人集中在一个空间内造成冲突加剧的现象，又可以实现多机器人自主地进行任务分配目的。

关键词: 多机器人系统, 信息素, 蚁群算法, 任务分配, 搜集

JIANG Jian,YAN Ji-hong,ZANG Xi-zhe,ZHAO Jie. Pheromone based multi-robot cooperative task allocation[J]. Computer Engineering and Applications, 2008, 44(2): 20-22.

姜健,闫继宏,臧希喆,赵杰. 基于信息素的多机器人协作任务分配[J]. 计算机工程与应用, 2008, 44(2): 20-22.

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Pheromone based multi-robot cooperative task allocation

基于信息素的多机器人协作任务分配

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