RoboCup标准平台组中基于改进合同网协议的任务分配算法

针对RoboCup标准平台组SPL中多机器人之间的协同问题，提出了基于改进合同网协议的任务分配算法。首先对RoboCup多机器人系统建立层次结构分解模型和单体机器人行为任务树模型，并采用AHP层次分析法确定各个任务权重。其次，提出基于改进合同网协议的任务分配策略，相对于传统合同网协议，改进的合同网协议将标书公示机制引入任务分配模型；同时，提出了优先招标策略并对合同网协议流程和评价函数进行了改进和扩展。

A task allocation algorithm based on the improved contract network protocol in RoboCup standard platform league

Aiming at the cooperation problem among multiple robots in RoboCup Standard Platform League(SPL),a task allocation algorithm based on the improved contract network protocol is proposed.Firstly,a hierarchical structure decomposition model and a single robot behavior task tree model are established for the RoboCup multi-robot system,and the analytic hierarchy process(AHP)is used to determine the weight of each task.Secondly,a task allocation strategy based on the improved contract network agreement is proposed.Compared with the traditional contract network agreement,the improved contract network agreement introduces the bid announcement mechanism into the task allocation model.At the same time,the priority bidding strategy is proposed and the contract network protocol process and evaluation function are improved and expanded.