A spatial orthogonal allocation and heterogeneous cultural hybrid algorithm for multirobot exploration mission planning

作     者：Yu, Lingli Cai, Zixing Gao, Ping'an Liu, Xiaoying 

作者机构：School of Information Science and Engineering Central South University Changsha Hunan 410083 China 

出 版 物：《控制理论与应用（英文版）》 (JOURNAL OF CONTROL THEORY AND APPLICATIONS)

年 卷 期：2011年第9卷第2期

页      面：171-176页

核心收录：

学科分类：0711[理学-系统科学] 0808[工学-电气工程] 07[理学] 0802[工学-机械工程] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by the National Natural Science Foundation of China (No. 90820302) the Research Fund for the Doctoral Program of Higher Education (No. 200805330005) Hunan S & T Funds (No. 06IJY3035) the Postdoctoral Science Foundation of Central South University 

主　　题：Multirobot system Mission planning Spatial orthogonal allocation Heterogeneous cultural hybrid algorithm 

摘      要：A spatial orthogonal allocation method is devised for multirobot tasks allocation.A 3D space model is adopted to describe exploration mission;meanwhile spatial orthogonal tentative technology is utilized to update the attractor position for load balance.Heterogeneous interactive cultural hybrid architecture is proposed to solve a robot route planning problem;it utilizes good-point-set to initialize population spaces,redefine novel evolution model and particle evolution ability,and introduce near-neighbor local search strategy in order to enhance search capability.Finally,spatial orthogonal allocation and heterogeneous cultural hybrid algorithm (SOAHCHA) are verified by simulation analysis and MORCS2 planning experiments;those results show that the proposed algorithm is efficient because of its successful performance and balanced allocation.