摘要
为解决多机器人系统领域中动态分布式任务分配的问题,对多机器人合作救火任务进行研究。建立了多机器人动态环境下合作救火任务的模型,并针对任务特点提出了一种基于市场机制的任务分配策略。在出价公式的构造上同时考虑了距离、火势、时间等因素,符合救火任务动态任务分配的要求。并在自主开发的仿真试验平台上进行了仿真验证,对试验结果进行了分析。实验结果表明,该分配策略在不同工况下均能高效地实现多机器人救火任务中的动态分布式任务分配问题。
In order to achieve distributed task allocation dynamically and effectively in multi-robot systems, multi-robot fire-disaster response was presented. The mathematical model of multi-robot cooperative fire-disaster response had been build, and market-based multi-robot task allocation for fire-disaster response was proposed. The distance factor and the fire behavior and time factors are taken into consideration, its bidding expressions accord with request of dynamic task allocation for fire-disaster response. Simulation experiment is performed in the self-develop platform, and the simulation results are analyzed. The experimental results show that this strategy can achieve multi-robot dynamic task allocation for fire-disaster response in different situation.
出处
《吉林大学学报（信息科学版）》
CAS
2009年第5期506-513,共8页
Journal of Jilin University（Information Science Edition）
基金
国家自然科学基金资助项目(60675057)
关键词
动态任务分配
市场机制
出价公式
distributed task allocation
market-based
bidding expressions
