A task allocation algorithm based on market mechanism for multiple robot systems

Abstract

A multi-robot task allocation based on market mechanism is proposed in this paper. Firstly, The proposed task intensity with distance fitness and urgency of the time are considered to improve the task evaluation function. The task evaluation function gets considerable improvement which make task allocation based on market mechanism more efficiently. Secondly, distance from the starting point is taken into account for further improving the efficiency of task allocation. All of the robots in multi-robot systems will be allocated to complete all tasks by market auction algorithm. The distributed task allocation based on market mechanism greatly improve the efficiency of collaborative task. At last, simulation and experimental results show that this multi-robot task allocation algorithm is efficient.