[1]CAO Pengfei,HAO Kuangrong,DING Yongsheng.Event-driven immune network algorithm for multi-robot dynamic task allocation[J].CAAI Transactions on Intelligent Systems,2018,13(6):952-958.[doi:10.11992/tis.201707022]
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Event-driven immune network algorithm for multi-robot dynamic task allocation

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 13 Number of periods: 2018 6 Page number: 952-958 Column: 学术论文—智能系统 Public date: 2018-10-25
Title:
Event-driven immune network algorithm for multi-robot dynamic task allocation
Author(s):
CAO Pengfei;  HAO Kuangrong;  DING Yongsheng
1. Engineering Research Center of Digitized Textile & Apparel Technology, Shanghai 201620, China;
2. Ministry of EducationCollege of Information Science and Technology Donghua University
Keywords:
immune net work; multi-robot system; dynamic task; autonomous cooperation; event-driven
CLC:
TP242
DOI:
10.11992/tis.201707022
Abstract:
To realize a dynamic task allocation and collaboration of multi-robot system, an event-driven immune network algorithm for multi-robot dynamic task allocation is presented. Inspired by the working mechanism of biological immune network, a multi-robot task allocation and autonomous cooperation model was established in this study, based on Jerne’s idiotypic network hypothesis and Farmer’s antibody dynamic equation. Then, a multi-robot dynamic task allocation algorithm was designed based on event-driven mechanism, and the anxiety model was used to solve the deadlock problem. Simulation and experimental results of multi-robot system show that a multi-robot system based on this algorithm has strong adaptability and independent planning and coordination in dynamic task environments.
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