Multirobot Task Planning Method Based on the Energy Penalty Strategy

Abstract

In multirobot task planning, the goal is to meet the multi-objective requirements of the optimal and balanced energy consumption of robots. Thus, this paper introduces the energy penalty strategy into the GA (genetic algorithm) to achieve the optimization of the task planning of multiple robots in different operation scenarios. First, the algorithm model is established, after which the objective function is constructed by taking the energy excess of the relative average energy consumption of each robot as the penalty energy, along with the total energy consumption of multiple robots. In the genetic operation, two-segment chromosome coding is used to realize the iterative optimization of the number and task sequences of robots through diversified cross and mutation operators. Then, in the task scenario with obstacles, the A* (A-Star) algorithm and GA are used to plan the optimal obstacle avoidance path and to realize the secondary optimization of the robot task sequence without changing the number of tasks. During optimization, the energy penalty strategy imposes punishment on the objective function through the size of the penalty energy, enabling the robot energy consumption to reach an equilibrium state by maintaining the total energy consumption at the minimum. Finally, the MATLAB platform is used to conduct the simulation experiments to compare with basic genetic algorithms and penalty function algorithms, after which the optimal allocation scheme and energy consumption iteration of the algorithm are analyzed under different robot numbers, task numbers, and task scenarios, and the simulation results include robot task sequences, total energy consumption, average energy consumption, and standard deviation of energy consumption.

Keywords

• multirobot
• energy penalty
• genetic algorithm
• task allocation
• task sequence planning