Cooperative task allocation for multiple mobile robots based on multi-objective optimization method

Author

Shi, Zhan ; Chen, Qingwei ; Li, Sheng ; Cai, Hua ; Shen, Xiaoning

Author_Institution

Sch. of Autom., Nanjing Univ. of Sci. & Technol., Nanjing, China

Volume

1

fYear

2010

fDate

9-11 July 2010

Firstpage

484

Lastpage

489

Abstract

In order to obtain the optimal scheme of task allocation problem for multiple mobile robots. Considering task allocation problem is a multi-objective optimization problem in essence, a general multi-objective task allocation model is established. A new method named multi-objective optimization genetic algorithm based on decision preference information (DPIMOGA) is proposed to solve the optimal allocation scheme. Numerical simulations show that DPIMOGA can solve the problem with light decision burden and Real-time interaction, which denotes that the cooperative task allocation problem solved by DPIMOGA is feasible and effective for multiple mobile robots.

Keywords

cooperative systems; genetic algorithms; mobile robots; DPIMOGA; cooperative task allocation; decision preference information; light decision burden; multiobjective optimization genetic algorithm; multiple mobile robots; optimal allocation scheme; realtime interaction; Magnetic resonance imaging; Optimization; Robots; DPIMOGA; multi-objective optimization; multiple mobile robots; task allocation;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Information Technology (ICCSIT), 2010 3rd IEEE International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4244-5537-9

Type

conf

DOI

10.1109/ICCSIT.2010.5565059

Filename

5565059