Multi-robot task allocation based on robotic utility value and genetic algorithm

摘要

It is a primary research problem in multi-robot cooperation domain to allocate task among robots so as to obtain maximal utility. On the base of presenting the utility values matrix for n robots relative to n tasks, and from the view of some disadvantages on computation complexity and bad real-time of Hungarian Algorithm, we present a new approach using genetic algorithm to seek for the optimal scheme of task allocation. The simulation experiments prove that the approach addressed in this paper is of great advantage, such as less computation, better real-time, stronger ability to seek for the optimal result, and so on. The approach we presented can also make robot map optimal to task, and provide an optimal solution for multiple robot to accomplish target mission by cooperation.