一种多机器人搬运系统的动态任务调度方法.docVIP

一种多机器人搬运系统的动态任务调度方法 *一种多机器人搬运系统的动态任务调度方法 * 管贤平 戴先中 东南大学 摘要：任务调度是多机器人管理控制的一个重要方面，采用改进的合同网方法进行制造环境下多机器人搬运系统的动态任务调度。采用多属性结合的性能指标，根据系统的负载情况动态更新各种属性的权值系数，解决了静态权值设置不适应动态变化的问题。在改进的合同网方法中，允许动态重新分配任务，能适应任务的动态变化，提高了调度的效用。采用有限状态自动机方法，详细设计了合同网中搬运任务智能体和机器人智能体的状态转移过程。 关键词：合同网 动态调度 多属性指标 Dynamic Task Dispatching Method for Multirobot Transportation System Guan Xianping Dai Xianzhong Abstract: Task dispatching is an important aspect of multirobot management and control. An improved contract net method is adapted in this paper to dynamically dispatching transportation tasks for multirobot system in manufacturing environment. The multi-attribute criteria are adapted and the coefficients for each attribute are updated dynamically according to the loads in the manufacturing system, thus the problem that static coefficients setting cannot adapt to dynamic changes is conquered. In the improved contract method, dynamic reassignment of tasks is allowed to adapt to changing tasks, thus the dispatching efficiency is improved. The detailed state transition processes of task agent and robot agent are designed with the finite state machine method. Keywords: contract net dynamic dispatching multi-attribute criteria PAGE PAGE 279 1 引言 物料搬运系统的自动化是制造系统自动化的重要内容。移动机器人具有 的权重，反映各方面的关键程度。由于制造系统中加工任务和搬运任务的复杂关系，需要考虑多方面的影响，特别需要考虑阻塞和死锁问题。F. Liu和 P. Hung分析了产生死锁的条件[ ADDIN EN.CITE EndNoteCiteAuthorEgbelu/AuthorYear1984/YearRecNum77/RecNumrecordrec-number77/rec-numberref-type name=Journal Article17/ref-typecontributorsauthorsauthorEgbelu, P.J., Tanchoco, J.M.A. /author/authors/contributorstitlestitleCharacterization of automatic guided vehicle dispatching rules /titlesecondary-titleInternational Journal of Production Research, 22(3), 359-374 (1984) /secondary-title/titlesperiodicalfull-titleInternational Journal of Production Research, 22(3), 359-374 (1984)/full-title/periodicaldatesyear1984/year/datesurls/urls/record/Cite/EndNote6]，列出了加工系统中两种死锁的情形：加工缓冲区不足引起的死锁，多机器人路径冲突引起的死锁。为了避免死锁和加工设备空闲，应尽量避免输