Multi-robot system task allocation mechanism for smart factory

摘要

The smart factory has been developed many years, but the current situation of multi-robot task allocation mechanism only applicable to homogeneous robot systems, the problem of heterogeneous multi-robot cooperative task allocation is studied in this paper. A distributed auction algorithm is designed to classify different capabilities of robots with adopting atomic ability. The robot capability model and the task capability model are established, based on the distance between the robot and the target task and the matching degree between the robot capability and the task, a task allocation problem model is established to solve the problem of heterogeneous multi-robot collaborative task allocation. The simulation results show the correctness of the model and the effectiveness of the algorithm.