Research And Simulation Of Task Assignment Algorithm For Multi Mobile Robots

In recent years,with the continuous deepening of the research on multi-robot systems and the increasing complexity of the system's scale and tasks,the application of multi-robots is also increasing.In recent years,large-scale natural disasters such as mudslides and earthquakes have occurred continuously.When natural disasters occurred,rescue workers could not rescue them in time due to road obstruction or collapse,which caused great sufferings for people.Faced with such urgent needs,some researchers try to study mobile robots to quickly eliminate disasters and reduce the impact of disasters.Based on the rescue mission under this condition,a single robot cannot solve disasters quickly.Therefore,many researchers proposed using multiple mobile robots to collaborate together to rescue.This paper proposes a task assignment method for multi-mobile robots,which is based on the dynamic and real-time characteristics of the market mechanism.The task assignment process of multi-mobile robots is divided into two parts,one is the assignment of the first task in a static environment and the other is the task redistribution of multi-mobile robots in a dynamic environment.This paper deeply studies the influencing factors of collaborative rescue missions,selects appropriate formulas based on the correlation function in the task and the self-cost function,and improves the method of static and dynamic task assignment for multi-mobile robots based on the market mechanism.This method improves the coordination efficiency of rescue.The work done is as follows:1.For specific rescue scenarios,this paper analyzes and builds a simulation model.2.Based on the nature of the rescue missions,this paper add the factors that change the damage caused by disasters over time,and then build a new bid formula in the market mechanism to form a new task allocation strategy for the new heterogeneous mobile robot group.Then different mission scenarios are used for simulation analysis.3.The multi mobile robot simulation environment is built on the V-rep experimental platform,and a simulation experiment is performed on the dynamic task assignment algorithm of multiple mobile robots under the platform.The indicators in the experiment are then compared and the effectiveness of the dynamic task assignment algorithm is verified.