摘要
Multi-robot mission planning is composed of assignment allocation and mobile-robot route planning in this paper.Multi-robot exploration missions adopts fuzzy c-mean(FCM)algorithm to allocate,and then,heterogeneous interactive cultural hybrid algorithm(HICHA)is devised for route planning in order to optimize mobilerobot execution path.Meanwhile,we design multi-robot mission replanning mechanism based on the rules system of greedy algorithm for dynamic stochastic increment missions.Finally,extensive simulation experiments were shown that FCM for assignment allocation and HICHA for route planning were efficacious for mobile-robot exploration mission planning.Furthermore,the improved greedy algorithm based on experience rules met dynamic stochastic increment missions replanning requirement for load balance.
基金
This work was supported in part by the National Natural Science Foundation of China(Grant No.90820302)
the Research Fund for the Doctoral Program of Higher Education(No.200805330005)
Hunan S&T Funds(No.06IJY3035).
