Multi-robot task allocation based on two dimensional artificial fish swarm algorithm

摘要

The problem of task allocation for multiple robots is to allocate more relative-tasks to less relative-robots so as to minimize the processing time of these tasks. In order to get optimal multi-robot task allocation scheme, a two-dimensional artificial swarm algorithm based approach is proposed in this paper. In this approach, the normal artificial fish is extended to be two dimension artificial fish. In the two dimension artificial fish, each vector of primary artificial fish is extended to be an m-dimensional vector. Thus, each vector can express a group of tasks. By redefining the distance between artificial fish and the center of artificial fish, the behavior of two dimension fish is designed and the task allocation algorithm based on two dimension artificial swarm algorithm is put forward. At last, the proposed algorithm is applied to the problem of multi-robot task allocation and comparer with GA and SA based algorithm is done. Simulation and compare result shows the proposed algorithm is effective.