摘要
研究了多机器人系统的任务分配方法,多机器人多任务分配是一个NP问题。针对多机器人系统在动态环境下自主任务分配问题,综合考虑任务约束及机器人的执行任务能力,采用了一种改进的蚁群算法,解决多机器人系统全局最优任务分配问题。通过对基本蚁群算法和改进的算法的仿真,验证了改进的算法实现了全局近似最优的任务分配。
This paper researches the multi-robot system＇ s task allocating process, which is a NP prob- lem. In order to solve the best task allocating problem of the multi-robot system, an improved Ant Colo- ny Algorithm is used in allusion to the multi-robot system autonomously task allocating problem in a dy- namic environment, considered the task restricting and robot ability. The improved algorithm achieving overall situation approximation optimal task allocation is verified by simulation based on the basic Ant Colony Algorithm and the improved algorithm.
出处
《组合机床与自动化加工技术》
北大核心
2013年第2期34-37,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国防基础研究项目(B3126110005)
关键词
多机器人
蚁群算法
任务分配
multi-robot
ant colony algorithm
task allocation
