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Multi-robot Task Allocation Based on Ant Colony Algorithm

机译：基于蚁群算法的多机器人任务分配

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—With the development of information technology, the capability and application fields of robots become wider. In order to complete a complex task, the cooperation and coordination of robots are needed to be adopted. As the main problem of the multi-robot systems, multi-robot task allocation (MRTA) reflects the organization form and operation mechanism of the robots system. The cooperation and allocation for large-scale multi-robot system in loosely environment is the hot issue. As a popular bionic intelligence method, ant colony algorithm is powerful for solving MRTA. By analyzing the existing algorithms, this paper proposed a new solution for MRTA based on ant colony algorithm, built up the model of the algorithm and described the robots coalition, high-level task allocation process in details. Finally, we realized the simulation of ant colony algorithm based on MATLAB, and then compared the robustness and the best incomes of the four algorithms. The simulation results show that, ant colony algorithm is a high degree of ability and stability for solving MRTA.
机译：- 为信息技术的开发，机器人的能力和应用领域变得更广泛。为了完成复杂的任务，需要采用机器人的合作和协调。作为多机器人系统的主要问题，多机器人任务分配（MRTA）反映了机器人系统的组织形式和操作机制。大规模多机器人系统在松散环境中的合作与分配是热门问题。作为一种流行的仿生智能方法，蚁群算法对于解决MRTA是强大的。通过分析现有算法，本文提出了一种基于蚁群算法的MRTA的新解决方案，建立了算法的模型，并详细描述了机器人联盟，高级任务分配过程。最后，我们实现了基于MATLAB的蚁群算法的仿真，然后比较了四种算法的鲁棒性和最佳收入。仿真结果表明，蚁群算法是求解MRTA的高能力和稳定性。

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