Nearest neighbour based task allocation with multi-agent path planning in dynamic environments

摘要

This paper presents an effective solution to the task assignment problem combined with path planning using a group of autonomous agents. In this approach, path planning is incorporated with the task assignment; where agents start to move once the overall task is given. The main contribution of the proposed method is that it can effectively solve the task allocation problem in a distributed manner (among the agents). In this line, the other contribution of the paper is that it can effectively plan an optimum path by avoiding any types of collisions. Moreover, this method is capable of dealing with dynamic environments. The total methodology is based on the Particle Swarm Optimization (PSO) algorithm and for task allocation purposes the nearest neighbour search, approach is implemented. Following this approach, autonomous agents can successfully complete their mission in complex environments. The simulation results validate the proposed solution in dynamic environments.