A multi-robot allocation model for multi-object based on Global Optimal Evaluation of Revenue

被引:0
作者
Li, Xun [1 ,2 ]
Zhang, Zhi [1 ]
Wu, Dan-Dan [1 ]
Medema, Michel [2 ]
Lavozik, Alexander [2 ]
机构
[1] Xian Polytech Univ, Sch Elect & Informat, Xian 710048, Shaanxi, Peoples R China
[2] Univ Groningen, Fac Sci & Engn, Bernoulli Inst, NL-9747 GA Groningen, Netherlands
基金
中国国家自然科学基金;
关键词
multi-robot; task allocation; global optimal; response time; path planning; TASK ALLOCATION;
D O I
10.1177/17298814211060650
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
The problem of global optimal evaluation for multi-robot allocation has gained attention constantly, especially in a multi-objective environment, but most algorithms based on swarm intelligence are difficult to give a convergent result. For solving the problem, we established a Global Optimal Evaluation of Revenue method of multi-robot for multi-tasks based on the real textile combing production workshop, consumption, and different task characteristics of mobile robots. The Global Optimal Evaluation of Revenue method could traversal calculates the profit of each robot corresponding to different tasks with global traversal over a finite set, then an optimization result can be converged to the global optimal value avoiding the problem that individual optimization easy to fall into local optimal results. In the numerical simulation, for fixed set of multi-object and multi-task, we used different numbers of robots allocation operation. We then compared with other methods: Hungarian, the auction method, and the method based on game theory. The results showed that Global Optimal Evaluation of Revenue reduced the number of robots used by at least 17%, and the delay time could be reduced by at least 16.23%.
引用
收藏
页数:18
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