Research on Multi-robot Cooperative Task Assignment Based on Cooperative Game

Abstract

Aiming at multi-robots cooperatively executing multiple target points under the constraints of the road network, this problem can be transformed into a multi-robot cooperative task allocation based on cooperative games. A formal description of the task allocation strategy of the multi-robot system is provided, which provides a mathematical description tool for the solution of the task allocation plan. Taking the target value return index function and distance cost index function of the multi-robot cooperative alliance into consideration, the coalitional function is constructed, and the multi-robot cooperative task allocation model based on cooperative games is established. The particle swarm algorithm is used to adjust the parameters of the cooperative game model under the condition that the alliance function satisfies the superadditivity. Using the Shapley value method, a solution method of the cooperative game is given. The simulation results illustrate that the model can and also effectively solve the problem of multi-robot collaborative task allocation, and the optimal task allocation scheme and the income distribution of each robot under this scheme are given.