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论文:2013,Vol:31,Issue(6):974-978 |
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引用本文： |
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段俊花, 朱怡安, 黄姝娟, 陆伟. 多模态融合的多机器人任务分配算法研究[J]. 西北工业大学 |
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Duan Junhua, Zhu Yian, Huang Shujuan, Lu Wei. A New Multi-Robot Task Allocation Algorithm Based on Multi-Modality Synthesis[J]. Northwestern polytechnical university |
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| 多模态融合的多机器人任务分配算法研究 |
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| 段俊花1, 朱怡安1, 黄姝娟1,2, 陆伟1,2 |
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1. 西北工业大学 计算机学院, 陕西 西安 710072;
2. 西北工业大学 软件与微电子学院, 陕西 西安 710072 |
| 摘要: |
| 针对分布式任务分配中的资源竞争冲突问题以及解的质量和求解代价难以协调的问题,提出了一种基于多模态融合的多机器人分布式自组织任务分配算法。它将基于信息素的隐式交互机制、基于视觉的阈值模型任务分配机制和基于通信的显式协商协调机制等相结合,实现了未知环境下多机器人系统的多模态分布式自组织任务分配。仿真实验结果表明,多模态融合技术扩大了机器人的感知范围,提高了系统可靠性,而且在较少通信的情况下,有效解决了任务分配冲突问题,提高了任务执行效率。 |
| 关键词:
分布式任务分配
多机器人系统
多模态
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| A New Multi-Robot Task Allocation Algorithm Based on Multi-Modality Synthesis |
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| Duan Junhua1, Zhu Yian1, Huang Shujuan1,2, Lu Wei1,2 |
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1. Department of Computer Science and Engineering, Northwestern Polytechnical University, Xi'an 710072, China;
2. Department of Software and Microelectronics, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| In distributed task allocation, it is hard to balance three problems:conflict, solution quality and solving price.Multimodal synthesis method is put forward for multi-robot distributed and self-organized task allocation. Three models of cooperation mechanism are combined; these three models are conflict problem, which is implicit cooperation mechanism based on pheromone, implicit task allocation realized by threshold method based on robot visual sense, and explicit task allocation based on improved contract net mechanism.The experiment results and their analysis show preliminarily that multimodal synthesis method can expand the scope of the robot perception, improve the system reliability, resolve the conflict problem by less communication, and improve the task execution efficiency. |
| Key words:
algorithms
computer simulation
decision making
efficiency
energy conservation
flowcharting
information fusion
MATLAB
reliability
reliability
robots
sensory perception
time and motion study
distributed task allocation
multi-modality
multi-robot system
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| 收稿日期: 2013-03-02
修回日期:
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| DOI: |
| 基金项目: 航天科技创新基金(2011XR160001);航空科学创新基金(20130753006);西北工业大学基础研究基金(JC20110283)资助 |
| 通讯作者:
Email： |
| 作者简介: 段俊花(1979-),女,西北工业大学讲师,主要从事人工智能、多智能体系统等研究。
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参考文献: |
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[1] Farinelli Alessandro, Iocchi Luca, Nardi Daniele. Conflict Resolution with Minimal Communication Bandwidth. Proceedings of DIS 2006: IEEE Workshop on Distributed Intelligent Systems-Collective Intelligence and Its Applications, Prague, Czech Republic, 2006
[2] Kalra Nidhi, Martinoli Alcherio. A Comparative Study of Market-Based and Threshold-Based Task Allocation. Distributed Autonomous Robotic Systems 7: Springer Japan, 2006, 91-101
[3] Ducatelle F, Forster A, Caro G, Di A, et al. New Task Allocation Methods for Robotic Swarms. 9th IEEE/RAS Conference on Autonomous Robot Systems and Competitions, 2009
[4] Sarker Md Omar Faruque, Dahl Torbjrn S. A Robotic Validation of the Attractive Field Model: An Inter-Disciplinary Model of Self-Regulatory Social Systems. Proceedings of 7th International Conference on Swarm Intelligence, 2010, Brussels, Belgium
[5] Wahlster Wolfgang. SmartKom: Foundations of Multimodal Dialogue System (Cognitive Technologies ). Springer-Verlag, New York, 2006
[6] 段俊花, 朱怡安. 基于群智能的多智能体系统体系结构设计与应用. 西北工业大学学报, 2012, 30(1): 124-128 Duan Junhua, Zhu Yi'an. A New and Effective Design and Application of Swarm-Intelligence-Based Multi Agent System Architecture. Journal of Northwestern Polytechnical University, 2012, 30(1): 124-128 (in Chinese) |
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