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Multi-target multi-robot task allocation method based on improved fireworks algorithm

A technology of task allocation and fireworks algorithm, which is applied in the directions of instruments, computing, and data processing applications, can solve problems such as small search range, poor solution quality, and small solution set range, so as to improve the quality of task allocation and minimize time and consumption Effect

Active Publication Date: 2019-08-06
TIANJIN UNIV
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Problems solved by technology

However, the existing multi-objective methods based on genetic algorithms have problems such as small search range, poor solution quality, and small solution set range when solving multi-objective task allocation algorithms.
For the multi-objective multi-robot task allocation problem, the ideal solution is a multi-objective task allocation scheme with high quality and wide distribution, so the existing multi-objective method based on genetic algorithm cannot well meet the multi-objective multi-robot task allocation problem. requirements

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  • Multi-target multi-robot task allocation method based on improved fireworks algorithm
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  • Multi-target multi-robot task allocation method based on improved fireworks algorithm

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[0045] Taking the multi-objective task assignment task of the multi-robot system with the number of tasks N=1500 and the number of robots M=100 as an example, the parameters are set as follows: the initial number of fireworks Num=50, the file size Numb=50, the maximum number of explosion sparks m=100, Maximum explosion magnitude The number of Gaussian sparks g=50, the maximum number of iterations MaxIter=500. Specific steps are as follows:

[0046] 1. Randomly generate 50 solutions that satisfy the constraints, corresponding to 50 initial fireworks. Each firework consists of 1500 integers located in [0, 99], indicating that each task is performed by a robot. The number of iterations iter=0.

[0047] 2. According to the fitness value f(X i ), the number of explosion sparks s i and explosion amplitude A i The formula for calculating each firework X i The fitness f(X i ), the number of explosion sparks s i and explosion amplitude A i .

[0048] 3. According to the pri...

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Abstract

The invention discloses a multi-target multi-robot task allocation method based on an improved fireworks algorithm. The method is used for solving the multi-target multi-robot task allocation problem.The improved firework algorithm is applied to the multi-target multi-robot task allocation problem. According to a Pareto superior theory and a specific solving target of multi-target multi-robot task allocation, a selection mechanism of a firework algorithm is improved, and before a multi-robot system starts to execute tasks, a plurality of task allocation schemes which meet a certain constraintcondition, have the best quality and are large enough in difference are found. The problems that an existing algorithm is small in search range and poor in solving quality can be effectively solved.Under the constraint condition that the task completion degree is met, the time and consumption can be minimized, and the task distribution quality is improved.

Description

technical field [0001] The invention relates to a robot task assignment method. In particular, it relates to a multi-objective multi-robot task assignment method based on the improved fireworks algorithm. Background technique [0002] In recent years, robots have been widely used in more and more fields. Using multiple robots can yield significant performance gains compared to a single robot. Therefore, the research on robots has gradually expanded from single robot to multi-robot, and the research on multi-robot systems has received more and more attention. Robot task assignment is one of the main research problems in multi-robot systems. Multi-robot task allocation refers to the design of an allocation scheme to assign multiple tasks to different robots in the system, so as to achieve the goals of the shortest total task execution time, the minimum consumption, and the highest degree of task completion. With the increasing requirement for multi-objective simultaneous o...

Claims

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Application Information

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IPC IPC(8): G06Q10/06
CPCG06Q10/0631G06Q10/06316Y02P90/02
Inventor 张涛胡孟阳
Owner TIANJIN UNIV
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