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在分析了基于行为主义和基于协商主义的任务分配方法的适用性后,提出一种基于扩展能力评价值的多机器人系统任务分配算法,定义了扩展能力评价值的概念.首先对机器人能力、任务需求能力、历史经验、信用度进行数值化描述,在此基础上定义了扩展能力评价值的概念,并建立了扩展能力评价值的数学模型,包含能力匹配函数、历史经验、信用度3个因素.最后在足球多机器人系统仿真平台上进行实验仿真,结果表明了算法的有效性,实现了任务到机器人的最佳映射.
After analyzing the applicability of behavioralism and negotiation-based task assignment methods, this paper proposes a task assignment algorithm based on extended capability evaluation value, and defines the concept of extended capability evaluation value.First, Demand ability, historical experience and creditworthiness are described numerically, and on this basis, the concept of scalability evaluation value is defined and a mathematic model of scalability evaluation value is established, which includes capability matching function, historical experience and creditability.Finally, Experimental simulation on soccer multi-robot system simulation platform shows the effectiveness of the algorithm and realizes the best mapping between mission and robot.