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| Received:June 09, 2009Revised:April 04, 2010 |
| 基金项目:This work was partly 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), and the Postdoctoral Science Foundation of Central South University. |
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| A spatial orthogonal allocation and heterogeneous cultural hybrid algorithm for multirobot |
| Lingli YU,Zixing CAI,Ping’an GAO,Xiaoying LIU |
| (School of Information Science and Engineering, Central South University) |
| Abstract: |
| 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. |
| Key words: Multirobot system Mission planning Spatial orthogonal allocation Heterogeneous cultural hybrid algorithm |
