(中南大学 信息科学与工程学院 长沙 410083)
关键词:多机器人; 离散粒子群; 任务分配; 扰动因子
Multirobot mission assignment based on current learning
discrete particle swarm optimization algorithm
YU Lingli CAI Zixing
(School of Information Science & Engineering Central South University Changsha 410083 China)
Abstract:Multirobot mission assignment mathematical model was established firstly which considered three factors comprehensively: executing mission efficiency robot ability and mission properties. This paper proposed current learning discrete particle swarm optimization algorithm(CLDPSO) to solve multirobot mission assignment with highly efficiently. The algorithm designed an exact particles kinetic equation. When decreased algorithm diversity to a certain threshold,added a perturbation operator to jump out local optimum quickly and to improve the search ability. The experiment results show that CLDPSO can reach the best result and its stability is the best among existing algorithms when the number of missions is small scale. When the number of missions is middle or large scale the searching optimization ability is also strong. Those experiments prove that the model is reasonably and CLDPSO algorithm is the advantage. ......