Hybrid fuzzy response threshold-based distributed task allocation in heterogeneous multi-robot environment

摘要

Task allocation is a vital challenge in a multi-robot environment. A hybrid fuzzy response threshold-based method is proposed to address the problem of task allocation in a heterogeneous mobile robot environment. The method follows a distributed task allocation approach where every robot chooses its task and performs it, resulting in concurrent execution. The algorithm uses a fuzzy inference system to determine the capability of the robot to carry out a task. Then, the robot employs the response threshold model, utilizing the obtained capability to decide on the task to complete. The objective here is to maximize the tasks completed with the resources available while balancing the affinity with which the task is done. The proposed algorithm is initially applied to the static scenario where there is no failure among the mobile robots. The algorithm is then improved to run in the dynamic scenario to study the effect on the allocation. The proposed algorithm is empirically evaluated in simulation for multiple runs under different environment instances. The results show a good increase in tasks performed successfully across all the instances in static and dynamic scenarios. The proposed algorithms are validated using FireBird V mobile robots in an experimental environment.