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Task allocation method based on task allocation coordination strategy and particle swarm algorithm

A particle swarm algorithm, task allocation technology

Active Publication Date: 2020-01-21
XI'AN POLYTECHNIC UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problems of task allocation overlap, task overload and the remaining or insufficient power of the robot when performing tasks in the existing allocation technology, and to provide a task allocation method based on task allocation coordination strategy and particle swarm algorithm

Method used

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  • Task allocation method based on task allocation coordination strategy and particle swarm algorithm
  • Task allocation method based on task allocation coordination strategy and particle swarm algorithm
  • Task allocation method based on task allocation coordination strategy and particle swarm algorithm

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Experimental program
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Embodiment 1

[0088] The simulation experiment environment of this paper is on the Windows operating system, and the simulation experiment of the algorithm is realized based on the Matlab2014a environment. The PC configuration is Inter(R)Core-i5-6500@3.2GHz processor, 4G memory.

[0089] S1. Use the particle swarm optimization algorithm to optimize the distribution radius to obtain the initial distribution results. The specific operations are as follows:

[0090]The environment is a logistics warehouse, and there are 4 isomorphic robots. Table 1 shows the performance parameters of each robot. There are 12 tasks randomly scattered around, that is, R=4, T=12, the number of particle swarms is set to 10, and the learning factor is c 1 =c 2 =2,ω 0 =0.2,V 0 =0.5, speed range [0,1], set ω in performance index function formula (11) 1 =0.7,ω 2 =0.2,ω 3 = 0.1. And the power consumption per unit distance of all robots is 1, robot coordinates: R 1 (4,10), R 2 (5,40),R 3 (70,60), R 4 (20,90);...

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Abstract

The invention discloses a task allocation method based on a task allocation coordination strategy and a particle swarm algorithm, which comprises the following steps: 1) optimizing an allocation radius by using the particle swarm algorithm to obtain an initial allocation result; 2) adjusting the initial allocation result by using a coordination strategy to complete the first allocation; and 3) repeating the steps 1)-2), and reallocating the unallocated tasks until the tasks are completely allocated. According to the task allocation method based on a task allocation coordination strategy and aparticle swarm algorithm, a task coordination strategy is combined with a particle swarm algorithm, so that the common problems of task allocation overlapping, task overload, remaining or insufficientelectric quantity of robots during task execution and the like in warehouse logistics multi-robot task allocation under complex constraint conditions are solved.

Description

technical field [0001] The invention belongs to the field of task allocation, in particular to a task allocation method based on a task allocation coordination strategy and a particle swarm algorithm. Background technique [0002] With the gradual rise of online e-commerce, online shopping has become one of the main ways for people to consume. Traditional logistics warehouses have been unable to meet the growing heavy logistics tasks. The development of modern technology has made multi-robot collaboration increasingly an indispensable part of warehousing and logistics. Multi-robot collaboration can replace workers in the warehouse to complete a series of high-risk and difficult tasks, which not only improves efficiency, but also reduces the cost of completing tasks. The problem of multi-robot task assignment in warehousing logistics is becoming a research hotspot and development direction in recent years. Multi-robot task allocation (Multi-robot taskallocation, MRTA) means...

Claims

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Application Information

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IPC IPC(8): G06Q10/06G06Q10/08G06N3/00
CPCG06Q10/0631G06Q10/08G06N3/006
Inventor 陈海洋阳杰牛龙辉
Owner XI'AN POLYTECHNIC UNIVERSITY
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