基于改进蚁群算法的多机器人任务分配

摘要

This paper researches the multi-robot system' s task allocating process, which is a NP problem. In order to solve the best task allocating problem of the multi-robot system, an improved Ant Colony Algorithm is used in allusion to the multi-robot system autonomously task allocating problem in a dynamic environment, considered the task restricting and robot ability. The improved algorithm achieving overall situation approximation optimal task allocation is verified by simulation based on the basic Ant Colony Algorithm and the improved algorithm.%研究了多机器人系统的任务分配方法,多机器人多任务分配是一个NP问题.针对多机器人系统在动态环境下自主任务分配问题,综合考虑任务约束及机器人的执行任务能力,采用了一种改进的蚁群算法,解决多机器人系统全局最优任务分配问题.通过对基本蚁群算法和改进的算法的仿真,验证了改进的算法实现了全局近似最优的任务分配.