Fuzzy predictor for parallel dynamic task allocation in multi-robot systems

摘要

This paper presents a model to decompose complex tasks in the form of elemental tasks executed in parallel by multi robots. In this model, a criterion of accuracy in the parallel dynamic tasks allocation process (APDTA) is defined. Through this APDTA, a predictor based on fuzzy logic called FP-TE is developed to evaluate the importance of elemental tasks in the system. The inputs of this predictor are described as observations acquired from sensor data. The FP-TE output will be used to allow each robot to individually decide what task should be executed. Simulation results on goods transportation by mobile robots are presented to demonstrate the effectiveness of this fuzzy predictor.