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🔥 Content Introduction
In scenarios of unknown environment exploration (such as post-disaster rescue, deep space exploration, underground mine mapping), multi-robot systems can enhance exploration efficiency and coverage through collaborative operations. However, task allocation must balance multiple objectives such as “maximizing exploration coverage, minimizing task duration, and balancing robot energy consumption,” while also addressing environmental dynamics (such as sudden obstacles and robot failures) and resource constraints (such as limited battery capacity). Traditional task allocation methods (like greedy algorithms and the Hungarian algorithm) struggle to handle multi-objective conflicts and complex constraints, often resulting in “locally optimal allocations” or “resource wastage” issues.The Multi-Objective Grey Wolf Optimizer (MOGWO) simulates the cooperative behavior of grey wolf packs in “encirclement-hunting” and, combined with the Pareto optimal solution ranking mechanism, can efficiently search for globally optimal allocation schemes in the multi-objective solution space, providing adaptive and robust solutions for task allocation in multi-robot exploration. This article will analyze how this strategy achieves efficient multi-objective collaborative robot task allocation from four aspects: multi-robot exploration task modeling, MOGWO algorithm adaptation, task allocation process, and experimental validation.
⛳️ Results
📣 Sample Code
d = 1; %step
nPop = 100;
dim = 2;
varSize = [1 dim];
ray_length = 1.5; % max_range value in the paper
%value delta x, delta y
y_up = 1;
y_down = -1;
y_stay = 0;
x_right = 1;
x_left = -1;
x_stay = 0;
map = robotics.OccupancyGrid(bound,bound,15); %resolution is the number of pixels in one cell; no need to consider it below
show (map);
hold on
% view(3)
%% obstacles
cntx = bound/2;
cnty = bound/2;
s = cnty/0.1;
A(1,s) = cntx-1;
A(1:s) = cntx;
B = cnty:0.1:bound-0.1;
C = [A; B];
C = transpose(C);
🔗 References
🎈 Some theoretical references are from online literature; please contact the author for removal if there is any infringement.
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