种基于多目标优化的多机器人任务分配方法

• Format: Patent
• Language: Chinese
• Published: 26.02.2019
• Subjects: CALCULATING; CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION ORPROCESSING OF GOODS; COMPUTING; COUNTING; DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FORADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORYOR FORECASTING PURPOSES; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; PHYSICS; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE,COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTINGPURPOSES, NOT OTHERWISE PROVIDED FOR; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS; TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINSTCLIMATE CHANGE

本发明提供种基于多目标优化的多机器人任务分配方法，采用加权求和的方式对时间效用目标和能量效用目标进行建模，优化时间效用目标和能量效用目标，实现多机器人任务分配；能量效用是用于评价机器人在完成任务过程中的能量耗费；时间效用是用于评价机器人在完成任务过程中的时间耗费。该方法在多机器人完成任务过程中能够有效体现时间耗费和能量耗费两个因素的评价机制，使得计算时间少，可实现快速得到多机器人的最优任务分配方案集，从而大大降低任务分配时间，提高任务完成效率。本发明更全面、更系统化的解决多机器人系统中的任务分配问题，增加个基于该机制的任务分配结果优劣的量化评估指标，实现提高任务分配结果的科学性与合理性。 The present invention provides a multi-robot task allocation method based on multi-objective optimization. A weighted summation mode is adopted to carry out modeling on a time utility objective and an energy utility objective and the time utility objective and the energy utility objective are optimized so as to implement multi-robot task allocation; energy utility is used for evaluating energy consumption of robots in the task completing process; and time utility is used for evaluating time consumption of the robots in the task completing process. According to the method, an evaluation mechanism of two factors, i.e. the time consumption and the energy consumption, can be effectively shown in the multi-robot task comp