Multi-robot task assignment based on discrete firefly algorithm.

In order to solve the multi-robot task assignment problem, a multi-robot task assignment model considering robot capability constraints and task relationship constraints is established, and the model is solved by using the firefly algorithm. A new firefly distance representation method is proposed for discrete problems with parallelism of feasible solutions in the same dimension, and the iteration rule and random search method of the discrete firefly algorithm are improved to obtain an improved discrete firefly algorithm, and an adaptation function based on two evaluation indexes of energy consumption and time penalty is established. Finally, a specific example of 4 robots with 20 tasks is used to verify the effectiveness of several improved methods, and the improved discrete firefly algorithm is compared with discrete firefly algorithm, genetic algorithm and particle swarm algorithm, and the results show the superiority of the improved discrete firefly algorithm.