A study of the evaluation function for the cost of transport operations in distribution of purpose in a group of robots

摘要

When group of robots' actions are planned there is a problem of target distribution. The construction of exact sequences of operations performed by robots is computationally expensive and some of the calculated trajectories will not be used. To distribute targets between robots can be used evaluation function of traffic and overload operations cost estimation. The paper presents a study of the cost estimation functions for performing pair and individual transport operations in the distribution of targets in a group of robots. Two algorithms for exact path planning with four- and eight-connected regions of motion of robots are considered. As a cost estimation functions are used Chebyshev distance and Manhattan distance. As a result, error values were obtained for estimating trajectory lengths and error of overlap in the distribution of paired and individual targets between robots on a map filled with obstacles until the half of the environment.