A Research On The Task Allocation For The Personality Robots Based On Emotional Stimulation

Task allocation is the key issue in multi-robot collaboration systems.Human are more eager to communicate and collaborate with the emotional robot for which emotion can improve the interactivity of the robot.The emotional robot's task allocation is an emerging research topic.But the emotion change robot's decision and behavior's,personality lead to the robot character diversity,it make the emotional robot task allocation algorithm is more complicated than non-emotional robot.This dissertation funded by the natural science project in Anhui province(1708085MF146)"Research on emotional robot model based on personality in Task allocation".In this dissertation,through the study of emotional and personality model,we comes out the task allocation algorithm in the personality of the emotional robot.Mainly have the following contributions:First,we introduce the emotion and the personality;analyze the advantages and disadvantages of each emotion models and personality models;concluding the role of personality on the emotional and personality-emotion relationship model;clarify the influence of emotion and personality to the allocation result in robot pursuit problem.Second,we come forward the emotion stimulations in the task allocation;explain the implementation method of emotional stimulations;define the stimulation vector in the task allocation;process the vector on the basis of various factors in task allocation in order to get the stimulation sequence.Meanwhile refine the emotion update and promote the task process with emotion changes.This dissertation proposes an emotion robot task allocation algorithm based on emotion stimulation which solves the personality emotion robot task allocation problem,and let the pursuit robot more reasonable.Finally,we come forward the CASE personality model.It provides an intuitive representation for the research on personalized allocation;enlarge the personality model and extend the personality from emotional expression to the task allocation;expound the concept of willingness and the calculation method of willingness;improve the emotional stimulation and the pursuit algorithm based on willingness,reduce the reallocation.The task allocation algorithm can run without the task manager.Every robots create and join task team spontaneously through consultation,so it can reflect the robot intelligent decision.We also apply the emotional infection to emotional robots to optimize the team and promote pursuit completion.At last we simulated in the robot pursuit platform,shorten the time,improve the efficiency,reduce the parameters and easier to apply.