摘要
多机器人系统为社区老年人的健康管理提供了一个灵活便捷的平台。为提高护理效率,多机器人协同任务分配是亟需解决的关键问题。综合考虑机器人行程代价、时间偏差代价和任务收益,提出了一种考虑任务时间窗的改进型遗传任务分配算法。设计表示任务和机器人分配信息的双编码染色体,充分利用搜索解空间,并基于有向图方法检测和修复可能出现的死锁。仿真结果表明,提出的改进遗传算法可有效解决健康管理机器人协同任务分配问题,且得到的解优于传统遗传算法。
Multi-robot systems provide a flexible and convenient platform for the health management of the elderly in the community.In order to improve nursing efficiency,the multi-robot collaborative task allocation is a key problem to be solved.Comprehensively considering the travel cost,time deviation cost and task benefit of the robot,an improved genetic task allocation algorithm is proposed based on the task time window.A double coding chromosome representing task and robot assignment information is designed,making full use of the search solution space,and deadlocks are detected and repaired using the directed graph method.The simulation results show that the improved genetic algorithm can effectively solve the cooperative task allocation problem of health management robot,and the obtained solution is better than that of the traditional genetic algorithm.
作者
鲁婷婷
冯彦翔
闫振龙
LU Tingting;FENG Yanxiang;YAN Zhenlong(Physical Education Centre,Xi’an Jiaotong University,Xi’an 710049,China;Faculty of Electronic and Information Engineering,School of Automation Science and Engineering,Xi’an Jiaotong University,Xi’an 710049,China)
出处
《无线电工程》
北大核心
2022年第7期1276-1283,共8页
Radio Engineering
基金
科技创新2030—“新一代人工智能”重大项目(2020AAA0108200)
2020年度陕西省社科界重大理论与现实问题研究项目(20ZD195-72)
2021年西安交通大学体育中心横向课题(智能自主移动防疫机器人技术研发及应用示范)。
关键词
遗传算法
健康管理
机器人
协同任务分配
genetic algorithm
health management
robot
collaborative task allocation
