计算机应用研究2025，Vol.42Issue(6)：1684-1690,7.DOI:10.19734/j.issn.1001-3695.2024.11.0449
考虑故障因素的多机器人动态任务分配及路径规划
Multi-robot dynamic task allocation and path planning considering fault factors
摘要
Abstract
To address the robustness problem of multiple robots in complex tasks,this paper proposed a coupled task alloca-tion and path planning method to address the trajectory requirements under such tasks.Firstly,the Dijkstra algorithm prepro-cessed the shortest paths and distances between task grids in environments.Secondly,when the central controller monitored the robot entering the danger zone and failure,it was responsible for real-time task assignment and environment updates to en-sure task completion.In addition,it proposed an improved northern goshawk optimization algorithm(INGO)with local adjust-ment strategies in conjunction with a neighbourhood search to improve the solution quality,and an auction method incorpora-ting marginal cost handled the robot failure reassignment problem.Finally,it conducted random tests under different map sizes and numbers of tasks.In 100-grid environment,the proposed method saved 19.63％of the total traveled distance compared to the auction method,and the solution time was shorter than that of the other methods.The results demonstrate that the method better balances the travelling distance and solution time,while also outperforming existing methods in terms of scalability and svstem robustness.关键词
多机器人系统/任务规划/系统鲁棒性/机器人故障/路径规划Key words
multi-robot system/task planning/system robustness/robot failure/path planning分类
信息技术与安全科学引用本文复制引用
何舟,何鹏阳..考虑故障因素的多机器人动态任务分配及路径规划[J].计算机应用研究,2025,42(6):1684-1690,7.基金项目
国家自然科学基金资助项目(62373234) （62373234）
陕西省自然科学基金面上项目(2023-JC-YB-564) （2023-JC-YB-564）
