CAJ | 학술논문

针对现有的多机器人系统任务分配方法只是采用算法进行寻优,而没有将任务分配结果加以量化的缺陷,提出了一种基于机器人效用函数的多机器人系统任务分配新方法.该方法首先定义机器人效用函数,并说明其可解;接着给出了最佳任务分配方案的定义,并证明其存在性和惟一性;最后通过实例对本方法的有效性进行了验证.
침대현유적다궤기인계통임무분배방법지시채용산법진행심우,이몰유장임무분배결과가이양화적결함,제출료일충기우궤기인효용함수적다궤기인계통임무분배신방법.해방법수선정의궤기인효용함수,병설명기가해;접착급출료최가임무분배방안적정의,병증명기존재성화유일성;최후통과실례대본방법적유효성진행료험증.
Existing methods for task allocation are only focus on optimization algorithms without quantizing the results of task allocation. According to the deficiency of existing methods, this paper presented a new approach for multi-robot task allocation based on the robotic utility function. By using this approach, it defined the robotic utility function, and showed its solvability firstly. Then, it addressed the definition of the optimal task allocation scheme, and proved its existence and uniqueness. Finally, gave an example to illustrate that the proposed approach could efficiently solve the problem of multi-robot task allocation.