基于积极团队情感基调的情感机器人协作任务分配拍卖算法

多机器人系统(Multi Robot System,MRS)通过引入机器人个体情感因素,可以有效提高个体的自主协作能力、决策能力以及多机器人系统的整体智能化水平。然而,以往研究主要集中于个体情感状态(情绪、个性等),缺乏从团队情感层面来探索积极团队情感基调(Positive Group Affective Tone,PGAT)对团队协作能力和团队有效性的影响。为了发挥PGAT在任务分配中的积极作用,降低因为团队成员情绪衰减而导致团队解散的风险,并增加团队协作能力和团队有效性,提出了基于PGAT的情感机器人协作任务分配拍卖算法。仿真追捕对比实验表明,相对于基于焦虑情感模型的改进合同网协议多机器人任务分配算法和基于自主意识的分布式情感机器人任务分配算法,基于PGAT的情感机器人协作任务分配拍卖算法的追捕成功率分别提高了269.3%和6.5%,任务分配成功率分别提高了138.7%和5.1%,平均追捕时间分别缩短了14.5%和26.3%,并且在150场追捕对比实验中,追捕时间小于对比算法的场次占比分别达到87.3%和90.7%。

Emotional Robot Collaborative Task Assignment Auction Algorithm Based on Positive Group Affective Tone

Multi robot system(MRS)can effectively improve individual's autonomous cooperation ability,decision-making ability and overall intelligent level of multi robot system by introducing individual emotional factors.However,previous researches mainly focus on individual emotional state(emotion,personality,etc.),lacking of exploring the influence of group emotional state on group cooperation ability and group effectiveness from positive group affective tone(PGAT).In order to improve positive effects of PGAT in task allocation and reduce the risk of group dissolution caused by group members’emotional decaying,as well as increasing group cooperation ability and group effectiveness,this paper proposed collaborative task allocation auction algorithm based on PGAT.The results of simulation show that compared with modified contract network protocol multi-robot task allocation algorithm based on anxiety model and distributed task allocation method based on self-awareness of autonomous robots,the emotional robot collaborative task assignment auction algorithm based on positive group affective tone improves the pursuit success rate by 269.3%and 6.5%,and increases the task allocation success rate by 138.7%and 5%respectively,and reduces the average pursuit time by 14.5%and 26.3%respectively.Besides,in 150 episodes of pursuit comparison experiment,the proportion of the number of episodes whose pursuit time is less than the comparison algorithm is 87.3%and 90.7%respectively.