[1]曹鹏飞,郝矿荣,丁永生.面向多机器人动态任务分配的事件驱动免疫网络算法[J].智能系统学报,2018,13(6):952-958.[doi:10.11992/tis.201707022]
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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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]
面向多机器人动态任务分配的事件驱动免疫网络算法
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
13
期数:
2018年第6期
页码:
952-958
栏目:
学术论文—智能系统
出版日期:
2018-10-25
- Title:
- Event-driven immune network algorithm for multi-robot dynamic task allocation
- 分类号:
- TP242
- 摘要:
- 为实现多机器人系统的动态任务分配与协作，提出了一种面向多机器人动态任务分配的事件驱动免疫网络算法。将生物免疫网络的工作机理应用到多机器人动态任务分配算法中，借鉴Jerne的独特型免疫网络假说和Farmer提出的抗体激励动态方程，设计了多机器人任务分配与自主协作模型；基于事件驱动机制，设计了多机器人动态任务分配算法，并引入焦躁模型来解决任务死锁问题。仿真和实际多机器人系统实验结果表明，基于本文算法的多机器人系统在动态任务场景中具有较强的适应性和自主规划协调能力。
- 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.
- 参考文献/References:
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备注/Memo
收稿日期:2017-07-20。
基金项目:上海市科学技术委员会国际合作项目（16510711100）；国家自然科学基金项目（61503075，61473078）.
作者简介:曹鹏飞,男,1992年生,硕士研究生,主要研究方向为智能系统、网络智能、智能机器人;郝矿荣,女,1964年生,教授,博士生导师,博士后,主要研究方向为机器视觉、模式识别、智能机器人。获得国家发明专利授权10余项,发表学术论文100余篇;丁永生,男,1967年生,教授,博士生导师,博士,主要研究方向为智能系统、网络智能、智能物联网、智能机器人。主持国家自然科学基金重点项目等30余项。授权国家发明专利43项。发表学术论文200余篇,其中被SCI检索100余篇,出版专著6部,参编国际编著6部。
通讯作者:郝矿荣.E-mail:krhao@dhu.edu.cn
更新日期/Last Update:
2018-12-25