基于集对贴近度的多机器人能力评估

Ability Evaluation of Multi-Robot Based on Set-Pairs Proximity

为解决多机器人任务分配的问题,把集对分析的思想引入机器人能力综合评估中,利用多属性决策方法对任务的多项指标进行评估。将多个指标组成的指标集视为由多个指标组成的指标空间,运用欧式空间权距离的方法分析集对贴近度。采用贴近度算法进行大样本仿真和分析,仿真结果表明了该算法的有效性,同时该算法对相似的结果可进行有效区分。

To solve the problem of multi-robot system task allocation, the paper used the theory of set pair analysis （SPA） to comprehensively evaluate the ability of multi-robot, and used multiple attributes decision making （MADM） to estimate the indexes of the task. The paper also regarded the multi-index set as a multi-index space and utilized the method of Euclidean space weighted distance to analyze set-pairs proximity. Finally, the paper performed large-sample simulation and analysis. The simulation result demonstrated that this method is effective and can help to distinguish similar results.