Multi-robot Task Planning Based on Improved Distributed Auction Algorithms
ieee advanced information technology electronic and automation control conference(2019)
Abstract
Distributed decision-making is one of the key methods to improve the autonomy of multi-robots. Based on Automated guided vehicle (AGV) task allocation, this paper establishes a distributed task allocation model considering local communication, AGV power consumption and path conflict-free. The continuous and discrete task space is quantitatively described by Bayesian theorem. Finally, numerical simulation is carried out to verify the feasibility of the proposed algorithm in solving multi-task allocation problem.
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Key words
distributed decision making,coherence and coordination,multi-robot system,Auction algorithm
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