Open Journal of Applied Sciences

Volume 7, Issue 10 (October 2017)

ISSN Print: 2165-3917   ISSN Online: 2165-3925

Google-based Impact Factor: 0.85  Citations  h5-index & Ranking

Research on Model and Algorithm of Task Allocation and Path Planning for Multi-Robot

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DOI: 10.4236/ojapps.2017.710037    617 Downloads   939 Views  Citations
Author(s)

ABSTRACT

Based on the modeling of robot working environment, the shortest distance matrix between points is solved by Floyd algorithm. With the objective of minimizing the sum of the fixed cost of robot and the cost of robot operation, an integer programming model is established and a genetic algorithm for solving the model is designed. In order to make coordination to accomplish their respective tasks for each robot with high efficiency, this paper uses natural number encoding way. The objective function is based on penalty term constructed with the total number of collisions in the running path of robots. The fitness function is constructed by using the objective function with penalty term. Based on elitist retention strategy, a genetic algorithm with collision detection is designed. Using this algorithm for task allocation and path planning of multi-robot, it can effectively avoid or reduce the number of collisions in the process of multi-robot performing tasks. Finally, an example is used to validate the method.

Share and Cite:

Li, Z. and Li, X. (2017) Research on Model and Algorithm of Task Allocation and Path Planning for Multi-Robot. Open Journal of Applied Sciences, 7, 511-519. doi: 10.4236/ojapps.2017.710037.

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