面向多机器人动态任务分配的事件驱动免疫网络算法
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摘要
为实现多机器人系统的动态任务分配与协作,提出了一种面向多机器人动态任务分配的事件驱动免疫网络算法。将生物免疫网络的工作机理应用到多机器人动态任务分配算法中,借鉴Jerne的独特型免疫网络假说和Farmer提出的抗体激励动态方程,设计了多机器人任务分配与自主协作模型;基于事件驱动机制,设计了多机器人动态任务分配算法,并引入焦躁模型来解决任务死锁问题。仿真和实际多机器人系统实验结果表明,基于本文算法的多机器人系统在动态任务场景中具有较强的适应性和自主规划协调能力。
To realize a dynamic task allocation and collaboration of multi-robot system, an event-driven immune network algorithm for multi-robot dynamic task allocation is presented. Inspired by the working mechanism of biological immune network, a multi-robot task allocation and autonomous cooperation model was established in this study, based on Jerne's idiotypic network hypothesis and Farmer's antibody dynamic equation. Then, a multi-robot dynamic task allocation algorithm was designed based on event-driven mechanism, and the anxiety model was used to solve the deadlock problem. Simulation and experimental results of multi-robot system show that a multi-robot system based on this algorithm has strong adaptability and independent planning and coordination in dynamic task environments.
To realize a dynamic task allocation and collaboration of multi-robot system, an event-driven immune network algorithm for multi-robot dynamic task allocation is presented. Inspired by the working mechanism of biological immune network, a multi-robot task allocation and autonomous cooperation model was established in this study, based on Jerne's idiotypic network hypothesis and Farmer's antibody dynamic equation. Then, a multi-robot dynamic task allocation algorithm was designed based on event-driven mechanism, and the anxiety model was used to solve the deadlock problem. Simulation and experimental results of multi-robot system show that a multi-robot system based on this algorithm has strong adaptability and independent planning and coordination in dynamic task environments.
引文
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[11] JERNE N K. Towards a network theory of the immune system[J]. Annales d'immunologie,1974,125(1/2):373-389.
[12] FARMER J D,PACKARD N H,PERELSON A S. The immune system, adaptation, and machine learning[J].Physica D:nonlinear phenomena, 1986, 22(1/2/3):187-204.
[13]陈蕊,丁永生,郝矿荣.基于事件驱动的动态免疫分簇路由算法[J].计算机应用研究,2016, 33(7):2087-2090,2109.CHEN Rui, DING Yongsheng, HAO Kuangrong. Eventdriven dynamic immune clustering routing algorithm[J].Application research of computers, 2016, 33(7):2087-2090,2109.
[14]高云园,韦巍.未知环境中基于免疫网络的多机器人自主协作[J].浙江大学学报:工学版,2006, 40(5):733-737.GAO Yunyuan, WEI Wei. Multi-robot self-determination cooperation based on immune network in an unknown environment[J]. Journal of Zhejiang university:engineering science, 2006, 40(5):733-737.
[15] FARHY L S. Modeling of oscillations in endocrine networks with feedback[J]. Methods in Enzymology, 2004,384:54-81.
[16] GERKEY B P, MATARIC M J. A formal analysis and taxonomy of task allocation in multi-robot systems[J].The international journal of robotics research, 2004,23(9):939-954.
[17] WERGER B B, MATARIC M J. Broadcast of local eligibility:behavior-based control for strongly cooperative robot teams[C]//Proceedings of the 4th International Conference on Autonomous Agents. Barcelona, Spain, 2000:21-22.
[2] DAHL T S, MATARIC M, SUKHATME G S. Multi-robot task allocation through vacancy chain scheduling[J].Robotics and autonomous system, 2009, 57(6/7):674-687.
[3] ZHOU Pucheng, HONG Bingrong, WANG Yuehai, et al.Multi-agent cooperative pursuit based on extended contract net protocol[C]//Proceeding of 2004 International Conference on Machine Learning and Cybernetics. Shanghai, China, 2004:169-173.
[4] PARKER L E. ALLIANCE:an architecture for fault tolerant multirobot cooperation[J]. IEEE transactions on robot-ics and automation, 1998, 14(2):220-240.
[5]许建豪.云计算中基于拍卖的虚拟机动态供应和分配算法[J].重庆邮电大学学报:自然科学版,2016, 28(4):585-592.XU Jianhao. Virtual machine dynamic supply and allocation algorithm based on auction in cloud computing[J].Journal of Chongqing university of posts and telecommunications:natural science edition, 2016, 28(4):585-592.
[6]袁明新,叶兆莉,程帅,等.干扰素调节的多机器人协作搬运免疫网络算法[J].智能系统学报,2014, 9(1):76-82.YUAN Mingxin, YE Zhaoli, CHENG Shuai, et al. Multirobot cooperative handling based on immune network algorithm regulated by interferon[J]. CAAI transactions on intelligent systems, 2014, 9(1):76-82.
[7]袁明新,李平正,江亚峰,等.基于胸腺肽调节机制的多机器人免疫任务分配[J].模式识别与人工智能,2014,27(5):472-479.YUAN Mingxin, LI Pingzheng, JIANG Yafeng, et al. Immune task allocation for multi-robot system based on adjustment mechanism of thymic peptide[J]. Pattern recognition and artificial intelligence, 2014, 27(5):472-479.
[8]丁永生.基于生物网络的智能控制与优化研究进展[J].控制工程,2010, 17(4):416-421,536.DING Yongsheng. Research development of bio-network based intelligent control and optimization[J]. Control engineering of China, 2010, 17(4):416-421, 536.
[9]丁永生.计算智能的新框架:生物网络结构[J].智能系统学报,2007,2(2):26-30.DING Yongsheng. A new scheme for computational intelligence:bio-network architecture[J]. CAAI transactions on intelligent systems, 2007, 2(2):26-30.
[10]靳明双,郜帅,张宏科.智慧协同网络研究进展[J].重庆邮电大学学报:自然科学版,2018, 30(1):22-32.JIN Mingshuang, GAO shuai, ZHANG Hongke. Research progress of smart collaborative identifier networks[J]. Journal of Chongqing university of posts and telecommunications:natural science edition, 2018, 30(1):22-32.
[11] JERNE N K. Towards a network theory of the immune system[J]. Annales d'immunologie,1974,125(1/2):373-389.
[12] FARMER J D,PACKARD N H,PERELSON A S. The immune system, adaptation, and machine learning[J].Physica D:nonlinear phenomena, 1986, 22(1/2/3):187-204.
[13]陈蕊,丁永生,郝矿荣.基于事件驱动的动态免疫分簇路由算法[J].计算机应用研究,2016, 33(7):2087-2090,2109.CHEN Rui, DING Yongsheng, HAO Kuangrong. Eventdriven dynamic immune clustering routing algorithm[J].Application research of computers, 2016, 33(7):2087-2090,2109.
[14]高云园,韦巍.未知环境中基于免疫网络的多机器人自主协作[J].浙江大学学报:工学版,2006, 40(5):733-737.GAO Yunyuan, WEI Wei. Multi-robot self-determination cooperation based on immune network in an unknown environment[J]. Journal of Zhejiang university:engineering science, 2006, 40(5):733-737.
[15] FARHY L S. Modeling of oscillations in endocrine networks with feedback[J]. Methods in Enzymology, 2004,384:54-81.
[16] GERKEY B P, MATARIC M J. A formal analysis and taxonomy of task allocation in multi-robot systems[J].The international journal of robotics research, 2004,23(9):939-954.
[17] WERGER B B, MATARIC M J. Broadcast of local eligibility:behavior-based control for strongly cooperative robot teams[C]//Proceedings of the 4th International Conference on Autonomous Agents. Barcelona, Spain, 2000:21-22.