| 朱良恒,梁利东,贾文友,苏学满.基于能量惩罚的多机器人任务分配优化方法[J].井冈山大学自然版,2022,43(2):88-93 |
| 基于能量惩罚的多机器人任务分配优化方法 |
| MULTI ROBOTS TASK ALLOCATION OPTIMIZATION METHOD BASED ON ENERGY PENALTY |
| 投稿时间：2021-09-07 修订日期：2021-11-26 |
| DOI：10.3969/j.issn.1674-8085.2022.02.014 |
| 中文关键词: 多任务分配 遗传算法 能量惩罚 |
| 英文关键词: multitask assignment genetic algorithm energy penalty |
| 基金项目:安徽省教育厅科学技术研究项目(KJ2019A0147,KJ2018A0102) |
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| 中文摘要: |
| 针对多机器人任务分配中存在的能量消耗不均衡问题,提出了基于能量惩罚策略的遗传算法完成任务分配与任务序列的优化过程。首先,建立多机器人任务分配的数学模型,每项任务设定不同的难度系数,以机器人完成任务所消耗的总能量为优化目标,并确定安全能量的约束条件;然后在每次迭代中通过计算每个机器人相对平均能耗的超额进行能量惩罚以寻求能量均衡的最优解。仿真实验表明,在总能量消耗最低的寻优中有效提高了各机器人的能量平衡性。 |
| 英文摘要: |
| In order to solve the problem of energy consumption imbalance in task allocation of multi robots,a genetic algorithm based on energy penalty strategy is proposed to optimize task allocation and task sequence.Firstly,the mathematical model of task assignment of multi robots is established.Each task is set with different difficulty coefficients.The total energy consumed by the robot to complete the task is the optimization goal.The constraints of the safety energy are determined.Then,in each iteration,the energy penalty is performed by calculating the excess energy consumption of each robot to find the optimal solution of energy balance.The simulation results show that the energy balance of each robot is effectively improved in the optimization of the lowest total energy consumption. |
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