Research On Channel Assignment And Task Scheduling Optimization In Multi-Robot Cooperative Network

With the rapid development of mobile technology and people's growing communications needs,Ad hoc technique has been paid great attention by researchers.Now,it has been widely used in wireless sensor networks,car networks,UAV networks,multiple mobile-nodes network scenes.UAV is a kind of high-end robot,in UAV Ad hoc application scenarios,channel allocation is one of the best key techniques to ensure the communication efficiency and the normal operation of network nodes.At the same time,the multi-robot network has been widely used in the disaster relief and environmental monitoring scenarios because of the high efficiency.In the robot group,it is important to ensure that the group nodes can perform the task effectively.In this thesis,we first analyze the mathematical model of channel allocation in the Flying Ad hoc network,and then explain the influence of mobility,lastly we propose a Dynamic Channel Allocation Algorithm based on Learning-factor Charged Particle Swarm Optimization(LnCPOS-DCA).The algorithm uses the result of the mobility experiment as the data source of the channel allocation,and it obtains the optimal solution of the channel allocation scheme by using the particle swarm optimization with synchronous variation of learning factors,and it takes channel collision prevention during the algorithm execution.The simulations of mobility experiment show that the mobility algorithm can simulate the node movement correctly.Compared with the existing algorithms,this thesis proves the superiority of the channel allocation algorithm in improving the average utilization of network channels,the channel utilization at bottleneck node and the fairness.In order to solve the problem of non-conflicting collaborative task allocation in multi-robot network,this thesis establishes a collaborative task allocation model which includes a task model and a resource model and proposes a Collaborative Task Allocation Algorithm with Resources Conflict-free(CTARC).The algorithm solves the multi-robot collaborative allocation problem,and it will correct unreasonable collaboration and unreasonable distribution in the distribution scheme,and it detects resource conflicts.On this base,the thesis validates the algorithm by using two kinds of actual data sets in the gas leak detection scenario.The results show that the proposed algorithm can effectively solve the data sets with different computational volumes and the task allocation scheme can effective reduce the cost of executing tasks.