Distributed Cooperative Task Planning for Autonomous Mobile Robots in Intralogistics

摘要

In this paper, we consider the problem of distributed task allocation for multi robot systems in a manufacturing workshop, where new transportation task may arrive randomly. The tasks of the mobile robot team is to efficiently pick and deliver work pieces according to the production plan. We propose two distributed schemes of receding horizon task allocation (RHTA) algorithm. In our approach, each robot estimates the costs of possible task sequences locally, and resolve task conflicts by assigning priority or constructing a negotiation set based on marginal cost. Monte-Carlo simulations show the performance of the proposed method compared with its centralized counterpart and the popular CBBA method.