| 基于粒子群蚁群算法的多机器人任务分配方法 |
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| 引用本文： | 刘淑华,张嵛,付帅,吴洪岩.基于粒子群蚁群算法的多机器人任务分配方法[J].东北师大学报(自然科学版),2009,41(4). |
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| 作者姓名： | 刘淑华 张嵛 付帅 吴洪岩 |
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| 作者单位： | 东北师范大学计算机学院,吉林,长春,130117 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 针对大规模多移动机器人松散耦合型任务分配问题,探讨了机器人联盟形成问题中的关键,并且提出一种基于粒子群蚁群算法的任务分配机制.结果表明,粒子群蚁群算法得到的分配解要明显优于基本蚁群算法,并且不易出现早熟现象.
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| 关 键 词： | 任务分配 机器人联盟形成 蚁群算法 粒子群蚁群算法 |
Multi-robot task allocation based on swarm intelligence |
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| LIU Shu-hua,ZHANG Yu,FU Shuai,WU Hong-yan.Multi-robot task allocation based on swarm intelligence[J].Journal of Northeast Normal University (Natural Science Edition),2009,41(4). |
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| Authors: | LIU Shu-hua ZHANG Yu FU Shuai WU Hong-yan |
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| Institution: | LIU Shu-hua,ZHANG Yu,FU Shuai,WU Hong-yan(School of Computer Science,Northeast Normal University,Changchun 130117,China) |
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| Abstract: | This paper discusses robot coalition formation in the large-scale multi-robots system including loosely and tightly-coupled tasks.A task allocation mechanism based on particle swarm optimization ant colony optimization(PSOACO) is proposed.Simulation results show that PSOACO is superior to the basic ant colony optimization on the solution quality,and hardly falls in the local minimum. |
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| Keywords: | task allocation robot coalition formation ant colony optimization particle swarm optimization ant colony optimization |
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