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多机器人执行并行追捕任务时,须通过任务分配形成若干子群,每个子群针对某一目标进行协作追捕.由于环境中目标数量及位置的变化,要求任务分配能够动态进行.提出基于合同网任务分配模型的带双向筛选机制的动态任务分配方法,以减少协商过程的通信开销.机器人自主动态构建任务数据集且在追捕过程中自动更新.招标机器人和投标机器人筛选数据集中的最优信息选择结盟,且根据任务数据集信息在不同合同网联盟间动态迁移.仿真结果表明,使用该方法在不同情况下均能高效地实现防入侵追捕任务,同时可有效降低协商过程通信开销.
When executing multi-robot parallel hunting task, several subgroups need to be formed through task assignment, and each sub-group is cooperated and hunt for a certain target.Because of the change of target quantity and position in environment, task assignment can be carried out dynamically.Finally, Distribution model with two-way screening mechanism to reduce the communication overhead of the negotiation process.The robot dynamically builds the task data set and updates automatically during the process of chase.The bidding robots and bidding robots select the best information in the data set , And dynamically migrates among different contract network alliance according to the task data set information.The simulation results show that this method can efficiently achieve the anti-intrusion task under different situations and reduce the communication overhead in the negotiation process.