计算机与数字工程2017，Vol.45Issue(11)：2085-2089,5.DOI:10.3969/j.issn.1672-9722.2017.11.001
基于市场法的多机器人协作未知环境探索
Unknown Environment Exploration of Multi-robot Based on Market
摘要
Abstract
Multi-task assignment is a key problem in multi-robot's collaborative exploration of unknown environment. Tradi-tional market methods sacrifice the overall optimization because of the pursuit of single-robot's optimization. However,the method basing on the partition exploration can achieve the overall optimization,which is not suitable for exploration in the unknown environ-ment. This paper put forward a market approach based on improved the traditional market approach,this method took the number of rejection pheromones in the path through the robot as the condition of winning the auction. The method improves the efficiency of the multi-robot system to complete the environment exploration. What's more,the effectiveness of the algorithm has been verified by ex-periments.关键词
多机器人/协作探索/市场法/排斥素Key words
multi-robot/cooperative exploration/market-based/rejection of pheromone分类
信息技术与安全科学引用本文复制引用
赵慧潮,石朝侠..基于市场法的多机器人协作未知环境探索[J].计算机与数字工程,2017,45(11):2085-2089,5.基金项目
国家自然科学基金项目"基于XX环境搜索面上研究"(编号:61371040)资助. （编号:61371040）
