摘要
针对多机器人任务规划问题,提出了一种蚁群集中式规划方法,建立了任务分配和路由规划的蚁群算法描述模型,并利用局部搜索策略改进了蚁群算法分配效果,实现了多机器人集中任务规划系统。利用该系统平台,进行了大量的实验分析。结果表明,蚁群算法能有效解决多机器人任务规划问题,为多机器人协作机制提供了新思路。
We proposed a centralized ant colony planning approach for multi-robot mission planning problem. The task allocation model and route planning model of ant colony algorithm description were built, meanwhile, local search strategy was utilized to improve ant colony algorithm assignment effect At last, we achieved a centralized multi-robot mission planning system for experiments analysis. The results show that ant colony algorithm can solve the multi-robot mission planning problem effectively, and provide a new idea for multi-robot coordination mechanisms.
出处
《计算机科学》
CSCD
北大核心
2010年第6期252-255,共4页
Computer Science
基金
NSFC重大研究计划资助项目(90820302)
国家博士点基金项目(200805330005)资助
关键词
多机器人
任务规划
蚁群算法
集中分配
路由规划
Multi-robot, Mission planning, Ant colony algorithm, Centralized allocation, Route planning
