基于博弈论的多机器人系统任务分配算法

摘要

Considering to dependences between robots, this paper introduced main idea of game theory to depict multi-robot system task allocation which afforded a new mathematic description way for solving task allocation. To the relationships between strategies of robots, it analyzed multi-robot system task allocation based on game theory, and proposed a game theory based task allocation algorithm for multi-robot systems (GT-MRTA). Simulation experiment shows that GT-MRTA has low complexity, and needs less computation. It has good robustness for communication failure and can help to getting task allocation schemes with high quality.%对多机器人系统任务分配策略进行了形式化描述,为任务分配方案的求解提供了一种数学描述工具；针对多机器人系统中机器人决策之间的相互依存性,引入博弈论的思想分析了多机器人系统的任务分配问题,提出了一种基于博弈论的多机器人系统任务分配算法(GT-MRTA).实验结果表明,算法复杂度较低,计算量较小,鲁棒性较好,获得的任务分配方案质量较高.