考慮故障因素的多機器人動態(tài)任務(wù)分配及路徑規(guī)劃

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Multi-root dynmic tsk lloction nd pth plnning considering fult fctors

He Zhou'?，He Pengyang（a.Colegeofical&tllallEiUesiegy，Xi'an 710021，China）

Abstract：Toaddress therobustness problem of multiplerobots incomplex tasks，，this paper proposedacoupled task llcationand path planning method to adressthetrajectoryrequirementsundersuchtasks.Firstly，the Dijkstraalgorithmpreprocesed the shortestpathsand distances between task grids inenvironments.Secondly，whenthecentral controlermonitored the robotenteringthedangerzoneandfailure，itwasresponsibleforreal-timetask assignmentandenvironmentupdates toensuretask completion.Inaddition，it proposedanimproved northern goshawkoptimizationalgorithm（INGO）withlocaladjustment strategies inconjunction withaneighbourhoodsearchtoimprovethesolutionquality，andanauctionmethod incorporatingmarginalcosthandledtherootfailurereassignmentproblem.Finally，itconductedrandomtestsunderdiferentmapsizes and numbers of tasks. In 1OO-grid environment，the proposed method saved 19.63% of the total traveled distance compared to the auction method，andthesolutiontime wasshorter thanthatoftheothermethods.Theresultsdemonstratethatthe method beterbalances the travellingdistanceand solution time，whilealsooutperforming existing methods interms ofscalabilityand system robustness.

Key words：multi-robot system；task planning；system robustness； robot failure；path planning

0引言

多機器人系統(tǒng)（multi-robotsystem，MRS），由于其相對于單機器人系統(tǒng)在工作效率、靈活性等方面的優(yōu)勢而受到廣泛關(guān)注[1，2]。（剩余16052字）