改进适应度的异构多机器人任务分配

The task allocation for improved fitness-based heterogeneous multi-robot

目的探究基于适应度的异构机器人系统模型与外部适应度的特点,提高系统性能与任务分配结果。方法应用数学模拟法分别研究机器人与任务,实证研究法验证外部适应度算法。结果对于机器人模型与任务模型,采用机器人原始性能参数建模;外部适应度采用正余切函数构成的算法,实现了任务最优分配。结论改进后的数学模型提高了系统的鲁棒性与可扩展性,改进外部适应度算法更为有效的反映机器人与任务间的匹配关系,为系统任务分配提供了可靠依据。

Aim To study fitness-based heterogeneous robot in terms of system model characteristics, and external fitness characteristics and to improve the system performance and task allocation results. Methods The mathemati- cal simulation is applied to study robots and tasks, empirical research method to verify that external fitness algo- rithm. Results The robot model and the task model have been built by using the the robot raw performance param- eters; positive cotangent external adaptation of the algorithm has achieved the optimal allocation of tasks. Conclu- sion Improved mathematical models improve system robustness and scalability, improving the matching relation- ship between the external adaptation algorithm can more effectively reflect the matching relationship between the ro- bot with the task, and provide a reliable basis for the allocation of system tasks.