Improved Harris Hawk algorithm combined with clustering algorithm for task assignment of construction robots
The construction robots technology is in its infancy,and the related research on the multi-machine task allocation problem of construction robotss is seriously insufficient.Therefore,the problem was analyzed and transformed into a multi-traveling salesman problem for mathematical modeling,and a multi-machine task allocation method for construction robotss based on improved Harris Hawk algorithm and clustering algorithm was proposed to solve the problem.Firstly,according to the spatial characteristics of the construction task and the number of construction robots,the clustering algorithm was used to cluster the tasks.Aiming at the shortcomings of Harris Hawk algorithm,which is sensitive to parameters and easy to fall into local optimum,an improved Harris Hawk algorithm based on Logistic chaotic mapping was proposed.The objective function was constructed according to the movement mode of construction robots and optimized on the basis of clustering.Finally,the task set and task execution order of each construction robots were determined.In order to verify the effectiveness of the method,three groups of randomly generated 3*15,5*40 and 8*70 construction robots*construction task data sets of different sizes were used for simulation,and the method was compared with GA and IHHO task allocation effects without fusion clustering algorithm.The results show that clustering can effectively solve the task allocation problem of construction robots,effectively reduce the spatial superposition between task sets,and enhance the iterative convergence performance of the optimization algorithm.The improved algorithm based on Logistic chaotic map has better fitness value at the beginning of iteration and convergence.With the increase of the scale of the problem,the task allocation method of the construction robots combining the improved Harris Hawk and the clustering algorithm is more effective,indicating that it is more suitable for solving large-scale and complex practical problems.
construction robottask allocationtask clusteringHarris Hawk algorithm
万方数据
维普
