Multi-robot exploration mission planning and stochastic increment replanning for load balance

作     者：Lingli YU Zixing CAI 

作者机构：School of Information Science&EngineeringCentral South UniversityChangsha 410083China 

出 版 物：《Frontiers of Electrical and Electronic Engineering in China》 (中国电气与电子工程前沿（英文版）)

年 卷 期：2010年第5卷第2期

页      面：154-162页

学科分类：0808[工学-电气工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 0805[工学-材料科学与工程（可授工学、理学学位）] 0812[工学-计算机科学与技术（可授工学、理学学位）] 0702[理学-物理学] 

基　　金：This work was supported in part by the National Natural Science Foundation of China(Grant No.90820302) the Research Fund for the Doctoral Program of Higher Education(No.200805330005) Hunan S&T Funds(No.06IJY3035). 

主　　题：multi-robot mission planning heterogeneous interactive cultural hybrid algorithm(HICHA) replanning 

摘      要：Multi-robot mission planning is composed of assignment allocation and mobile-robot route planning in this paper.Multi-robot exploration missions adopts fuzzy c-mean(FCM)algorithm to allocate,and then,heterogeneous interactive cultural hybrid algorithm(HICHA)is devised for route planning in order to optimize mobilerobot execution path.Meanwhile,we design multi-robot mission replanning mechanism based on the rules system of greedy algorithm for dynamic stochastic increment missions.Finally,extensive simulation experiments were shown that FCM for assignment allocation and HICHA for route planning were efficacious for mobile-robot exploration mission planning.Furthermore,the improved greedy algorithm based on experience rules met dynamic stochastic increment missions replanning requirement for load balance.