Multi-Robot System Coordinating and Scheduling Based on Greedy Double Chromosome Genetic Algorithm
In order to reduce path length of multi-robot system to execute tasks and realize coordinate work of multi-robot sys-tem,colored travel salesman problem model of multiple sorting robots is built,and CTSP model solving method based on greedy double chromosome genetic algorithm is proposed.Grid model of electricity warehouse is built,and 3-dimension coordinate is used to describe grid location and state.On the basis of A*algorithm,turning cost is introduced to cost function,which can re-duce turning time of robot executing task and plan path between point and point under grid model.Path clash judging method be-tween the robot is constructed.Path coordinating method is given based on waiting strategy and local path re-planning.10 group experiments with different robot scale and task scale are designed,the result shows that under different task scale,path length of greedy genetic algorithm is shorter than traditional genetic algorithm,and the difference become bigger with the increase of task scale.Besides,robot waiting time and re-planning time of greedy genetic algorithm are also less than traditional genetic algo-rithm.The experiment result above indicates the validity of greedy double chromosome genetic algorithm on multi-robot task scheduling and coordinating.
Multiple Robot SystemTask Scheduling and CoordinatingGreedy Double Chromosome Genetic Al-gorithmColored Travel Salesman Problem
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