Research On Pursuit Task Allocation Algorithm Of Emotional Robot Based On Personality

Personalized emotional robot is a special robot that has emotion, and it also has personality which is a particular emotion attributes. Different personalized robots have different behavior patterns. When robot has personality its emotional intelligence will be improved, and robot’s diversity and autonomy will be improved too, so it provides more possibilities for robots’cooperative work. Task allocation is one of the hot content for multi-robot systems, and it main issues is to design a optimal algorithm for robot allocation according to the demand of task, then all robots can complete all tasks use shortest time and gain the highest income. In the platform of robot pursuit, we research on the problem of personalized emotion robot pursuit task allocation, and proposed a personalized multi robot pursuit task allocation algorithm. The main research works are summarized as follows:Firstly, this paper proposes a new concept of emotional cooperation factor, and we can use it to measure individual cooperative willingness of self-interested robot in the situation of cooperation and competition (represent the value of cooperation emotion). Emotional attenuation and external stimuli will affect the emotional cooperation factor. So it has solved the problem about robot’s emotion change in multi robot cooperation, and it laid the foundation for the study of emotional robot cooperation.Secondly, we propose an emotional robot pursuit task allocation algorithm based on auction. According to robot’s emotional collaboration factor, we can judge whether current robot’s state is suitable to join the pursuit task or not. So it can effectively avoid robot with poor state or bad mood be elected to pursuit team; we combine with the auction algorithm to recruit team leaders and collaborators. The first auction is to select leader of pursuit team for each escaper, then the leader became a management for each pursuit team, when the team leader’s capacity is not up to demand, it needs second auction to recruit cooperator. Experimental results show that this algorithm can optimize the total pursuit time and total team revenue, which verifies the effectiveness of the algorithm.Finally, we optimize the emotional robot pursuit task allocation algorithm, and research the impact of personality on emotion, then research the task allocation problem of emotional robot with different personality. We propose a personalized multi robot pursuit task allocation algorithm, and made full use of personality’s regulatory role in the process of robot pursuit task allocation, while combine with the information of evaders and robots, we assign appropriate robots for each evader. The simulation results show that robot can complete the task independently under the regulation of personality, which consistent with the general rules of human behavior, verify the effectiveness of the algorithm proposed in this paper.