Task decomposition method for heterogeneous multi-robot system based on recursive algorithm

Abstract

The invention relates to a task decomposition method for a heterogeneous multi-robot system based on a recursive algorithm. Resources involved are formally represented, a triplet is used to formally represent tasks that a robot can accomplish, a task decomposition algorithm based on a recursive function is called, and a task execution flow is restored according to a stack call trace of a function.The defects that an existing task decomposition method has poor generality, robots mostly are heterogeneous robots, a set of tasks can not be obtained and different allocation schemes and execution sequences of sub tasks have a large economic benefit gap are overcome. The unified and shareable formal representation of system environment resources and tasks is carried out, the method has good adaptability, robots with different abilities can be expressed in the same representation, a heterogeneous robot system is supported, a recursive algorithm is employed, the traversal search can be carriedout for any possible decomposition method in a robot ability space, and all decomposition schemes can be obtained.

Description

technical field [0001] The invention relates to the field of computer software systems, in particular to a task decomposition method for a heterogeneous multi-robot system based on a recursive algorithm. Background technique [0002] With the continuous development of science and technology, the application fields of robots are constantly expanding. But as far as the current development of robots is concerned, a single robot has insufficient capabilities in information acquisition and task processing, which requires urgent requirements for the development of multi-robot systems. However, simply stacking robots together cannot give full play to the advantages of a multi-robot system when performing tasks. On the contrary, it may cause conflicts and confrontations between robots when performing tasks due to the concurrent and conflicting behaviors of different robots, making the system Overall performance degrades. The completion of a task requires a reasonable allocation of...

AI Technical Summary

Problems solved by technology

[0003] Before the present invention was made, the existing task decomposition methods mainly had the following problems: 1. Most of the existing task decomposition methods were proposed for specific applications, suitable for specific environments, and poor in versatility

However, in the intelligent manufacturing mode, the task environment faced by the robot system is dynamic and uncertain, with strong randomness

2. Most of the current task decomposition methods are used in small-scale robot systems, and they are all assumed to be isomorphic robots

3. Existing decomposition tasks cannot obtain a set of tasks, all possible decomposition schemes in a specific environment

However, under the intelligent manufacturing mode, there may be a large economic benefit gap between different allocation schemes and execution sequences of subtasks, and it is necessary to compare different decomposition allocation schemes

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