摘要
A method of task allocation and automated negotiation for multi robots was proposed. Firstly, the principles of task allocation were described based on the real capability of robot. Secondly, the model of automated negotiation was constructed, in which Least-Squares Support Vector Regression (LSSVR) was improved to estimate the opponent's negotiation utility and the robust controller of output feedback was employed to optimize the utility performance indicators. Thirdly, the protocol of negotiation and reallocation was proposed to improve the real-time capability and task allocation. Finally, the validity of method was proved through experiments.
A method of task allocation and automated negotiation for multi robots was proposed. Firstly, the principles of task allocation were described based on the real capability of robot. Secondly, the model of automated negotiation was constructed, in which Least-Squares Support Vector Regression （LSSVR） was improved to estimate the opponent＇s negotiation utility and the robust controller of H∞ output feedback was employed to optimize the utility performance indicators. Thirdly, the protocol of negotiation and reallocation was proposed to improve the real-time capability and task allocation. Finally, the validity of method was proved through experiments.
基金
Supported by the National Natural Science Fund Projects(No. 60974055, 61075076, 61075077)
Engineering center for failure diagnosis of petrochemical device and information control of Guangdong universities,the Guangdong Natural Science Fund Projects (8152500002000003)
the Natural Science Fund of Guangdong (S20120100-09963)
