Cooperative task allocation of multi-robots system in complex environment

Based on the forage task of large-scale multi- robots in complex environment, the task-level cooperative problems under the distributed architecture were discussed. Based on the market-based viewpoint, the dynamic role assignment was applied to the conscious cooperation of the robot. The cooperative task allocation mechanism of multi-robot system was proposed to decrease the communication traffic and avoid the task deadlock on the basis of shortening task accomplished time. Finally, simulation results show that this method can achieve task allocation effectively and dynamically in multi- mobile robots systems.