Multi-robot task allocation method based on multi-objective optimization

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 optimi...

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Bibliographische Detailangaben
Hauptverfasser:	OUYANG SIJIE, XIAO QIJUN, LI JIAN, CHEN JIANPING
Format:	Patent
Sprache:	eng
Schlagworte:	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
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Beschreibung
Zusammenfassung:	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 completing process, and thus, computing time is short and the optimal multi-robot task allocation scheme set can be rapidly obtained, so that task allocation time is greatly reduced and task completing efficiency is improved. According to the present invention, the problem of task allocation in a multi-robot system is more comprehensively and more systematically solved, a task allocation result quality quantitative evaluation index based on the mechanism is increased and improvement on scientificity and reasonability of a task allocation result is realized.