| 改进布谷鸟搜索算法在多机器人任务分配及路径规划中的应用 |
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| 引用本文： | 谢永盛,曾箫潇,冯文健.改进布谷鸟搜索算法在多机器人任务分配及路径规划中的应用[J].计算机应用与软件,2021,38(2):285-290. |
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| 作者姓名： | 谢永盛 曾箫潇 冯文健 |
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| 作者单位： | 广西科技师范学院数学与计算机科学学院 广西 来宾 546100;广西科技师范学院数学与计算机科学学院 广西 来宾 546100;柳州铁道职业技术学院 广西 柳州 545616 |
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| 基金项目： | 广西机器人高新技术企业孵化中心建设项目;广西高校中青年教师基础能力提升项
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| 摘 要： | 针对多机器人任务分配及路径规划问题,提出一种改进布谷鸟搜索算法求解多机器人任务分配及路径规划方法。根据任务点的环境信息和在其中寻找最佳机器人位置建立数学模型,并使用改进布谷鸟搜索算法求解任务分配及路径规划。改进的策略中融合了遗传算子、2-opt、模拟退火算法的Metropolis准则和插入、交换、逆序方法。不同规模的仿真实验表明,该方法能有效实现多机器人任务分配及路径规划问题,并为多机器人的续航能量提供科学依据。
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| 关 键 词： | 任务分配 路径规划 布谷鸟搜索算法 遗传算法 |
APPLICATION OF IMPROVED CUCKOO SEARCH ALGORITHM IN MULTI-ROBOT TASK ASSIGNMENT AND PATH PLANNING |
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| Xie Yongsheng,Zeng Xiaoxiao,Feng Wenjian.APPLICATION OF IMPROVED CUCKOO SEARCH ALGORITHM IN MULTI-ROBOT TASK ASSIGNMENT AND PATH PLANNING[J].Computer Applications and Software,2021,38(2):285-290. |
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| Authors: | Xie Yongsheng Zeng Xiaoxiao Feng Wenjian |
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| Affiliation: | (School of Math and Computer Science,Guangxi Science&Technology Normal University,Laibin 546100,Guangxi,China;Liuzhou Railway Vocational Technical College,Liuzhou 545616,Guangxi,China) |
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| Abstract: | Aiming at the task allocation and path planning problems,this paper presents an improved cuckoo search algorithm for multi-robot task allocation and path planning.The mathematical model was built according to the environment information of the task point and to find the best robot position in it,the improved cuckoo search algorithm was used to solve multi-robot task allocation and path planning.The improved strategy integrated genetic operator,2-opt,Metropolis criterion of simulated annealing algorithm,and insert,exchange and reverse methods.Simulation experiments of different scales show that the proposed method can effectively realize the multi-robot task allocation and path planning,and provide scientific basis for the power of multi-robot. |
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| Keywords: | Task allocation Path planning Cuckoo search algorithm Genetic algorithm |
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