CAJ | 학술논문

机器人多智能体系统（ MAS）可用于交通检测和航空航天等领域的应急救援。在复杂的无人动态环境中，如何根据现场环境和救援资源合理地分配任务，控制异构的救援机器人多智能体系统在最短的时间内有效地完成救援任务是亟待解决的重要问题。该文提出一种改进的基于拍卖的多智能体任务分配算法，算法中多个救援机器人作为智能体，组成应急救援系统。试验表明，运用该算法通过优化的任务分配，能够实现多机器人的相互协调与合作，完成不同等级的救援任务。
궤기인다지능체계통（ MAS）가용우교통검측화항공항천등영역적응급구원。재복잡적무인동태배경중，여하근거현장배경화구원자원합리지분배임무，공제이구적구원궤기인다지능체계통재최단적시간내유효지완성구원임무시극대해결적중요문제。해문제출일충개진적기우박매적다지능체임무분배산법，산법중다개구원궤기인작위지능체，조성응급구원계통。시험표명，운용해산법통과우화적임무분배，능구실현다궤기인적상호협조여합작，완성불동등급적구원임무。
Multi-Agent System ( MAS) can be used in emergency rescue of traffic monitor and avia-tion field ect .It is a pivotal question about how to control existing rescue robot troop to finish the rescue task effectively in the shortest time in a complex unmanned dynamic environment according to the alloca -tion of the rescue task with the spot environment and existing resource .The research introduces modified multi-agent task allocation algorithm based on auction on the basis of the condition of spot environment and robots itself .In the algorithm , one robot is a single multi -agent , so all the robots constitute emer-gency rescue system to simulate MAS .Tests show that , according to the optimized multi -agent task allo-cation, it can realize the cooperation of multi -agent robot to finish the rescue task with various of levels and kinds .