多机器人系统任务分配问题的建模与求解

Modeling and solution for assignment problem of multiple robots system

针对多机器人系统任务分配方式信息量大,数据处理复杂,得不到到最优的问题,提出一种基于分布式任务分配方式的建模方法。该方法从寻求最优解或次优解角度出发,对多机器人系统任务分配问题进行形式化描述。基于这种形式化的描述方法,提出一种基于组合拍卖法的分布式的多机器人任务分配的建模方法。研究结果表明:该方法能够有效地为任务分配问题提供最优解或次优解。

To deal with large amount of information and data processing complex and finding no optimal solution in the multi-robot system,a modeling and solution method based on combine auction of distributed task allocation problem was presented.The proposed method formally described the multi-robot system task allocation problem from the view point of seeking optimal solution or sub-optimal solution.Theoretical analysis and numerical results show that the method can effectively provide optimal solution or sub-optimal solution for task allocation problem.