高技术通讯2025，Vol.35Issue(12)：1351-1363,13.DOI:10.3772/j.issn.1002-0470.2025.12.008
基于区域划分的多机器人任务分配及路径规划
Region-partitioning-based multi-robot task allocation and path planning
摘要
Abstract
This work provides a region-partitioning-based K-means++clustering algorithm for task allocation and path planning in multi-robot systems.Firstly,multiple target points are divided into K clusters and region partitioning is used to reduce clustering time in the multi-robot task allocation process;then,on the basis of the whale optimiza-tion algorithm,perturbations of the solution are introduced to increase the diversity of solutions,which can effec-tively avoid the problem of premature convergence in path planning.Besides,reducing duplicate calculations is used to accelerate the convergence speed of the algorithm.Experimental results on the TSPLIB example and simula-ting path planning for several target points within a grid simulation environment demonstrate the efficiency of the proposed algorithm.关键词
多机器人/区域划分/聚类算法/鲸鱼优化/路径规划Key words
multi-robot/region partitioning/clustering algorithm/whale optimization/path planning引用本文复制引用
杨蘩,管俊轶,陈强..基于区域划分的多机器人任务分配及路径规划[J].高技术通讯,2025,35(12):1351-1363,13.基金项目
国家自然科学基金(62222315,61973274)和浙江省自然科学基金重点(LZ22F030007)资助项目. （62222315,61973274）
