سال انتشار: ۱۳۸۷

محل انتشار: دومین کنگره مشترک سیستم های فازی و سیستم های هوشمند

تعداد صفحات: ۶

نویسنده(ها):

A Valizadeh – Department of Electrical Engineering, Ferdowsi University of Mashad
M.R Akbarzadeh –

چکیده:

In this research, a self-organizing map (SOM)-based multi-agent architecture is proposed for task assignment of multi-robot systems. It allows for thecoordination and cooperation of a multi-robot system. A set of static or moving targets are randomly distributed in a finite environment (workspace). Every targetrequires a specific number of robots (that is generally unknown to the robots) to complete a task at each location. Hence, the goal is to dynamically assign ateam of robots to every target location or one robot to several target locations with minimal travel distance foreach robot. The task is completed when every target has the desired number of robots reached. The proposed approach integrates the task requirement of robots andthe robot motion planning, such that the robots can start to move before their destinations are finalized. Unlike most conventional models that are suitable to staticenvironments only, the proposed approach is capable of dealing with changing environments