A spatial orthogonal allocation and heterogeneous cultural hybrid algorithm for multirobot

A spatial orthogonal allocation method is devised for multirobot tasks allocation. A 3D space model is adopted to describe exploration mission; meanwhile spatial orthogonal tentative technology is utilized to update the attractor position for load balance. Heterogeneous interactive cultural hybrid architecture is proposed to solve a robot route planning problem; it utilizes good-point-set to initialize population spaces, redefine novel evolution model and particle evolution ability, and introduce near-neighbor local search strategy in order to enhance search capability. Finally, spatial orthogonal allocation and heterogeneous cultural hybrid algorithm (SOAHCHA) are verified by simulation analysis and MORCS2 planning experiments; those results show that the proposed algorithm is efficient because of its successful performance and balanced allocation.