Multi-robot Task Assignment Algorithm for Medical Service System

摘要

This paper discusses multi-robot task assignment for medical service system in a hospital ward environment. We propose a task allocation algorithm for multi-robot intelligence teamwork based on near-field subset partitioning. Firstly, an optimal task chain is obtained by traversing all tasks through ant colony algorithm. Then we use the genetic algorithm to optimize the segmentation of the task chain and achieve a reasonable and efficient allocation by considering the path of each robot and the completion time of each task simultaneously. We simulated the application scenario of a hospital ward and designed a multi-robot system for the distribution of medical supplies. Tasks are assigned to each robot by using the proposed allocation algorithm, and the robots performed tasks in parallel. We compared our method with four different task allocation algorithms to show the effectiveness of our method. Simulation and actual robot experiments have verified that our proposed method is the most reasonable and the average time of task completion is the shortest.