Multi-robot Task Allocation and Path Planning System Design

Abstract

This paper studies the task allocation and path planning of multi-robot system in a two-dimensional warehouse logistics environment. A task allocation algorithm based on market auctions is used, and an improved Astar algorithm is proposed to implement multi-robot path planning. During the task assignment, robots make bids in conjunction with the cost of the task itself and the associated cost between tasks, in order to optimize the two performance indicators of the total distance of all robots and the total running time of the robots. Compared with the traditional Astar algorithm, the improved Astar algorithm is combined with traffic rules and reservation tables to obtain the shortest path while avoiding problems such as collisions. The simulation results show that the system can effectively implement the tasks of multi-robot task allocation and path planning in a two-dimensional warehouse logistics environment.