| 基于能量惩罚的多机器人任务分配优化方法 |
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| 引用本文： | 朱良恒,梁利东,贾文友,苏学满.基于能量惩罚的多机器人任务分配优化方法[J].井冈山大学学报（自然科学版）,2022,43(2):88-93. |
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| 作者姓名： | 朱良恒 梁利东 贾文友 苏学满 |
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| 作者单位： | 安徽工程大学机械工程学院,安徽,芜湖 241000 |
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| 基金项目： | 安徽省教育厅科学技术研究项目(KJ2019A0147,KJ2018A0102) |
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| 摘 要： | 针对多机器人任务分配中存在的能量消耗不均衡问题,提出了基于能量惩罚策略的遗传算法完成任务分配与任务序列的优化过程.首先,建立多机器人任务分配的数学模型,每项任务设定不同的难度系数,以机器人完成任务所消耗的总能量为优化目标,并确定安全能量的约束条件;然后在每次迭代中通过计算每个机器人相对平均能耗的超额进行能量惩罚以寻求能...
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| 关 键 词： | 多任务分配 遗传算法 能量惩罚 |
| 收稿时间： | 2021/9/7 0:00:00 |
| 修稿时间： | 2021/11/26 0:00:00 |
MULTI ROBOTS TASK ALLOCATION OPTIMIZATION METHOD BASED ON ENERGY PENALTY |
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| ZHU Liang-heng,LIANG Li-dong,JIA Wen-you,SU Xue-man.MULTI ROBOTS TASK ALLOCATION OPTIMIZATION METHOD BASED ON ENERGY PENALTY[J].Journal of Jinggangshan University(Natural Sciences Edition),2022,43(2):88-93. |
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| Authors: | ZHU Liang-heng LIANG Li-dong JIA Wen-you SU Xue-man |
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| Institution: | School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, Anhui 241000, China |
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| Abstract: | In order to solve the problem of energy consumption imbalance in task allocation of multi robots,a genetic algorithm based on energy penalty strategy is proposed to optimize task allocation and task sequence.Firstly,the mathematical model of task assignment of multi robots is established.Each task is set with different difficulty coefficients.The total energy consumed by the robot to complete the task is the optimization goal.The constraints of the safety energy are determined.Then,in each iteration,the energy penalty is performed by calculating the excess energy consumption of each robot to find the optimal solution of energy balance.The simulation results show that the energy balance of each robot is effectively improved in the optimization of the lowest total energy consumption. |
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| Keywords: | multitask assignment genetic algorithm energy penalty |
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