Research On Pursuit Task Allocation Of Distributed Emotional Robot Based On Sense Of Autonomy

Successful task allocation is the basic guarantee for the normal operation of multi-robot system.Only when the task in system is reasonably and properly allocated,the basic goal of the system can be realized.With the extensive application of multi-robot system,a series problems of task allocation appear,it is impossible to meet the actual needs of the system just to realize the basic goal of the system.Considering the difficulty of the task and the various emergencies in real environment,a good task allocation algorithm is urgently needed.The development of robotics has added a new element to the robot-emotion,emotion robots bring new challenges to the task allocation of multi-robots.The allocation of robots not only needs to consider the matching between tasks and robots,but also study a series of behavioral effects created by the emotion on the robot.To sum up,in this paper,aiming at the limitation of the existing task allocation algorithm for emotional robots,a task allocation algorithm of distributed emotional robots based on sense of autonomy is proposed.The main work is as follows:(1)Combining cognitive intelligence with emotional intelligence,self-awareness is established for emotional robots,and a distributed robot task tracking algorithm based on self-awareness is proposed.The self-aware emotional robot chooses its own pursuit task according to its own state and working condition,and can make corresponding adjustments according to the changes of the environment,which effectively enhances the intelligence of the emotional robot.By utilizing self-aware robots' strong adaptability and distributed parallel processing methods,It solves the problem that the existing algorithms are inefficient in large-scale environments,over-reliance on the central manager,poor scalability,and difficult to adapt to the complex and ever-changing dynamic environment,thus significantly improving the efficiency of the chase task.(2)To optimize the algorithm of task assignment of emotion robot established in the previous paper,further study the emotional robot in group environment,and fully consider the mutual infection among individuals in the robot team.Through the establishment of a team awareness for the robot team to effectively use the infection among individuals,so that the overall mood of the team is improved,and the robot's decision-making from the individual level to the team level,proposed a team-awareness distributed emotion robots hunt task assignment algorithm,fully reflect the importance of team awareness on the assignment of emotional robots.The simulation experiment shows that the team-awareness emotional robots fully considers the influence of individuals and can make decisions from the perspective of overall interests,to a certain extent,enhances the efficiency of the pursuit,and the effectiveness of the distributed emotion robot hunt task assignment algorithm based on team awareness is verified.