The Use of Genetic Algorithms for Distribution of Tasks in Groups of Mobile Robots with Minimization of Energy Consumption

摘要

We consider one of the options for implementing the system, which distributes tasks assigned to a group of mobile robots, taking into account the initial charge of the battery, the power consumption of each robot, and the energy costs of performing individual tasks. The optimal distribution algorithm is implemented on the basis of evolutionary computations, while the formation of chromosomes also takes into account the current mode of operation of the robot (sleep, movement, task execution) and the class (complexity) of the task being performed. The proposed algorithm makes it possible to effectively solve a multicriteria optimization problem taking into account timeconsuming costs and an integral criterion for the effectiveness of robots, formed from estimates of battery charge, energy costs for performing individual tasks, maintaining in working condition and functionality of each robot.