Algorithms of task-allocation and cooperation in multi mobile robot system

摘要

Until now, many methods are used to solve the problems of task-allocation and path planning in multi mobile robot system. There are two new algorithms presented in this paper. The task-allocation algorithm resolves the puzzle of task getting and accomplishing with the least cost based on the optimal notion. The environment of the system is constructed with the topological graphics. Path-planning algorithm programs an optimal path from the initial point to the destination that satisfies some performances based on the idea of depth-first search. And we designed an emulational test bed based on the multi-robot material flow system of the storages and docks. Then we studied the results of the emulational experiments about the presented algorithms.