Research on collaborative allocation of the multi-agent based on equivalent time

According to the problems of complex allocation model, large calculation amount, poor real time capability of current robots co-allocation, this paper puts forward a collaborative allocation method of the multi-agent micro queue system based on equivalent time. Firstly, this method makes use of the improved single camera field depth algorithm for an accurate self-localization of the robot. Then, this method puts forward the concept of equivalent time based on the robot´s self status and the obstacle-avoidance status. Finally, this method looks for the optimal role assignment of robots with the total equivalent execution time being regarded as the optimization objective. The experiment results show that, the method successfully achieves robot´s role assignment with higher execution efficiency on the premise of strong real-time performance.