考虑故障因素的多机器人动态任务分配及路径规划

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Multi-root dynmic tsk lloction nd pth plnning considering fult fctors

He Zhou'†，He Pengyang（a.Colegeofical&tllallEiUesiegy，Xi'an 710021，China）

Abstract：Toaddress therobustness problem of multiplerobots incomplex tasks，，this paper proposedacoupled task llcationand path planning method to adressthetrajectoryrequirementsundersuchtasks.Firstly，the Dijkstraalgorithmpreprocesed the shortestpathsand distances between task grids inenvironments.Secondly，whenthecentral controlermonitored the robotenteringthedangerzoneandfailure，itwasresponsibleforreal-timetask assignmentandenvironmentupdates toensuretask completion.Inaddition，it proposedanimproved northern goshawkoptimizationalgorithm（INGO）withlocaladjustment strategies inconjunction withaneighbourhoodsearchtoimprovethesolutionquality，andanauctionmethod incorporatingmarginalcosthandledtherootfailurereassignmentproblem.Finally，itconductedrandomtestsunderdiferentmapsizes and numbers of tasks. In 1OO-grid environment，the proposed method saved 19.63% of the total traveled distance compared to the auction method，andthesolutiontime wasshorter thanthatoftheothermethods.Theresultsdemonstratethatthe method beterbalances the travellingdistanceand solution time，whilealsooutperforming existing methods interms ofscalabilityand system robustness.

Key words：multi-robot system；task planning；system robustness； robot failure；path planning

0引言

多机器人系统（multi-robotsystem，MRS），由于其相对于单机器人系统在工作效率、灵活性等方面的优势而受到广泛关注[1，2]。（剩余16052字）