Multi-robot Task Planning Based on Improved Distributed Auction Algorithms

Abstract

Distributed decision-making is one of the key methods to improve the autonomy of multi-robots. Based on Automated guided vehicle (AGV) task allocation, this paper establishes a distributed task allocation model considering local communication, AGV power consumption and path conflict-free. The continuous and discrete task space is quantitatively described by Bayesian theorem. Finally, numerical simulation is carried out to verify the feasibility of the proposed algorithm in solving multi-task allocation problem.