Particle Swarm Optimization Based Multi-Robot Task Allocation Using Wireless Sensor Network

摘要：

To solve the multi-robot task allocation (MRTA) especially in unknown complex environment, a novel dynamic algorithm was put forward with the advantages of wireless sensor network (WSN). The architecture and sensor fusion of WSN were discussed. Particle swarm optimization (PSO) algorithm based on bionic swarm intelligence was used for solution of the multi-objective optimization. A practical implementation with real WSN and real mobile robots were carried out. The successful implementation of tasks validates the efficiency, stability and accuracy of the proposed algorithm.

关键词： Particle Swarm Optimization Algorithm Multi-Robot Task Allocation Multi-Robot System Wireless Sensor Network Swarm Intelligence

作者: LI Xun MA Hong-xu

作者单位: College of Electromechanical Engineering & Automation National University of Defense Technology Changsha Hunan 410073, China

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 1300-1303

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）