CN107958332A - A kind of heterogeneous multi-robot system task analytic approach based on recursive algorithm - Google Patents
A kind of heterogeneous multi-robot system task analytic approach based on recursive algorithm Download PDFInfo
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Abstract
The present invention relates to a kind of heterogeneous multi-robot system task analytic approach based on recursive algorithm.The present invention carries out formalization representation to the resource being related to, and can be done with a triple to robot for task carries out formalization representation, calls the Task-decomposing algorithm based on recursive function, calls track according to the storehouse of function, reduces tasks carrying flow.The present invention overcomes versatility existing for existing task analytic approach is poor, it is mostly heterogeneous robot, can not draws a group task, there is the defects of very big economic benefit gap between the different allocative decisions and execution sequence of subtask.The present invention shares formalization representation to what system environments resource and task were unified, with good adaptability, the robot of different abilities can be indicated with same representation, support heterogeneous robot system, using recursive algorithm, traversal search can all be carried out to any possible isolation, all decomposing schemes can be obtained in robot capability space.
Description
Technical field
The present invention relates to computer software field, and in particular to a kind of heterogeneous multi-robot system based on recursive algorithm
System task analytic approach.
Background technology
With the continuous development of scientific technology, the application field of robot is constantly expanded.But with regard to current robot
For state of development, single robot ability in terms of acquisition of information, task processing has deficiency, and this requires to multirobot system
The development of system proposes urgent requirement.But merely pile up robot together, multi-robot system can not be played and held
Advantage during row task, be possible on the contrary because different machines people in behavior and issue and conflicting, cause robot to exist
Conflicts and confrontation during execution task so that systematic entirety can reduce.The completion of one task, it is necessary to productivity resource into
The rational configuration of row, multi-robot system are also such.Therefore, it is necessary to rational task point is carried out to the multirobot in system
Match somebody with somebody.Whether distribution mechanism is rationally directly related to whether each robot in system can effectively be linked up, at utmost
Ground plays self-ability, being efficiently completed in system for task.
Before the present invention makes, existing task analytic approach is primarily present the problem of following：1. existing task point
Solution method puts forward greatly both for concrete application, is suitable for specific environment, and versatility is poor.But in intelligence manufacture mould
Under formula, the task environment that robot system faces is dynamic and uncertain, has very strong randomness.2. current task
Most of decomposition method is applied in small scale machine people's system, and it is all isomorphic architecture people to assume.But in intelligence manufacture
Pattern under, robot quantity size is huge, and Each performs its own functions for robot, performs different tasks, be mostly heterogeneous robot.
3. existing task resolution can not draw a group task, in certain circumstances be possible to decomposing scheme.But intelligence manufacture
Under pattern, there may be very big economic benefit gap, it is necessary to not between the different allocative decisions and execution sequence of subtask
It is compared with allocative decision is decomposed.
The content of the invention
The purpose of the present invention, which is that, overcomes drawbacks described above, develops a kind of heterogeneous multi-robot system based on recursive algorithm
Task analytic approach.
The technical scheme is that：
A kind of heterogeneous multi-robot system task analytic approach based on recursive algorithm, it is characterised in that following steps：
(1) during to tasks carrying, involved resource carries out formalization representation；Accomplishing a task, it is certain to meet
Condition, corresponding result can be produced after the completion of task；By in multi-robot system, such condition and result are referred to as providing
Source, and such resource is denumerable；Define a two tuple r=<rnam, rnum>, a kind of money wherein in r expressions system
Source situation, rnamThe species of unique sign resource r, rnumRepresent the quantity of resource r；The resource of all kinds, is required in system
The expression of above-mentioned form is carried out, all two tuples of resource representation are formed into a set, represent the money of system under current state
Source overall state, formalization representation are R={ r1, r2..., rN, wherein N represents that the resource involved by the robot system is total
Kind number；
(2) on the basis of step (1), can be done with a triple to robot for task carries out formalization representation：
Task=<Name, owner, input, output>, wherein, name uniquely indicates the generic task；Owner is a robot
ID, represents that the corresponding robots of the ID have the ability to complete this task；Input represents to complete the resource feelings that this task needs to consume
Condition is one by r=<rnam, rnum>The set of composition, output represent to complete the resource situation that this task can produce, and one
It is a by r=<rnam, rnum>The set of composition；In many heterogeneous robot environment, the ability between different machines people is not handed over mutually
Difference, therefore for any two different task taskiAnd taskj,
(3) the Task-decomposing algorithm based on recursive function is called；A recursive function Judge (item, num) is defined, is used
To judge under current environment, if num item resource of export of a series of production procedure can be used；If it can, function returns
true；If it could not, function returns to false；The recursive function is characterized in that following steps：
(3.1) relation of the number num ' and num of item resources in existing resource are compared；If existing item resource quantities
More than or equal to num, then function directly returns to true；And for example the quantity of the existing item resources of fruit is less than num and is not 0, if Judge
(item, num-num ') is true, then function directly returns to true；If Judge (item, num-num ') is false, then enter step
(3.2)；
(3.2) if item can be produced by completing some task, that unique task is found, and be denoted as
Task, the item resource quantities that remembering the task can produce are num "；Calculating needs to perform the number of the task, is denoted as K, K's
Calculation formula is as follows：Task.input represents the required input resource collections of task,
task.input[i]namRepresent the title of i-th kind of resource in the set, task.input [i]numRepresent i-th kind of money in the set
Quantity needed for source.If n=| task.input |, if：
Judge(task.input[1]nam, task.input [1]num)∧…
∧Judge(task.input[n]nam, task.input [n]num)
It disclosure satisfy that to be K times true, then it represents that each subtask can complete, and function directly returns to true；Otherwise function returns
Return false；
(3.3) if by step (3.10 and step (3.2), function all do not terminate, then directly return false；
(4) track is called according to the storehouse of function, reduces tasks carrying flow.
Advantages of the present invention and effect are to devise a kind of formalization task presentation in multi-robot system field, use
Recursive traversal algorithm, can decompose the task in multi-robot system.Its major advantage is as follows：
(1) existing task analytic approach puts forward greatly both for concrete application, is suitable for specific environment, general
Property is poor.The present invention shares formalization representation to what system environments resource and task were unified.Can preferably it apply
Under different dynamics, random, uncertain environment, there is good adaptability.
(2) most of current task analytic approach is applied in small scale machine people's system, and it is all isomorphism to assume
Robot.What the present invention unified robot capability shares formalization representation, and the robot of different abilities can use together
One representation is indicated, and supports heterogeneous robot system.
(3) existing task resolution can not draw a group task, in certain circumstances be possible to decomposing scheme.This hair
It is bright to employ recursive algorithm, traversal search can all be carried out to any possible isolation in robot capability space, can
To obtain all decomposing schemes.
Brief description of the drawings
Fig. 1 --- the resource situation figure under a kind of current environment of the present invention.
Fig. 2 --- the task schematic diagram that a kind of robot system of the present invention can be completed.
Fig. 3 --- the present invention is directed to a kind of a kind of decomposition method schematic diagram of specific objective product.
Embodiment
The present invention is a kind of heterogeneous multi-robot system task analytic approach based on recursive algorithm, in order to make the present invention's
Purpose, technical solution and advantage are clearer, and the present invention is done below in conjunction with attached drawing and instantiation and is further retouched in detail
State.
During step (1) is to tasks carrying, involved resource carries out formalization representation.Accomplishing a task to expire
The certain condition of foot, can produce corresponding result after the completion of task.We are by multi-robot system, such condition and result
Resource is referred to as, and such resource is denumerable.Define a two tuple r=<rnam, rnum>, wherein in r expressions system
A kind of resource situation, rnamThe species of unique sign resource r, rnumRepresent the quantity of resource r.The money of all kinds in system
Source, is required for carrying out the expression of above-mentioned form.Such as<A, 10>Resource of the expression system now with 10 entitled A.And will be all
Two tuple of resource representation form one set, represent current state under system resource overall state, formalization representation R=
{r1, r2..., rN, wherein N represents that the resource involved by the robot system always plants number.Fig. 1 is a kind of possible system money
Source situation, this figure is represented in current system, is co-existed in 14 kinds of resources, is indicated respectively with A, B ..., N；Wherein resource A has
10, B has 5, and C has 5, and the quantity such as I, J, K, L, M is all 0.For the resource situation representated by Fig. 1, table can be formalized
It is shown as
Step (2) formalizes the task that robot can be done with a triple on the basis of step 1)
Represent：Task=<Name, input, output>.Wherein, name uniquely indicates the generic task；Input represents to complete this task
The resource situation consumed is needed, is one by r=<rnam, rnum>The set of composition, output represent that completing this task can produce
Resource situation, and one by r=<rnam, rnum>The set of composition.Fig. 2 is the signal that robot can complete background task
Figure, 1,2~9 represent the numbering of task, and the available resource of this task is represented above each label, this is represented below label
Business needs the resource consumed, such as task 1 to need to consume a C resource and a D resource, can generate an E resource.This chart
Showing for task can using formalization representation as：task1=<1,<C, 1>,<D, 1>,<E, 1>>Deng.It is also, different in RoboCup etc.
In structure robot environment, the ability between different machines people is not reported to the leadship after accomplishing a task mutually.Therefore for any two different task taskiWith
taskj,Task in Fig. 2 meets the characteristics of such.
Step (3) calls the Task-decomposing algorithm based on recursive function.We define a recursive function Judge
(item, num), for judging under current environment, if num item resource of export of a series of production procedure can be used.Such as
Fruit energy, function return to true；If it could not, function returns to false.The recursive function is characterized in that following steps：
Step (3.1) compares the relation of the number num ' and num of item resources in existing resource.If existing item resources
Quantity is more than or equal to num, then function directly returns to true.If the quantity of existing item resources is less than num and is not 0, if
Judge (item, num-num ') is true, then function directly returns to true；If Judge (item, num-num ') is false, then enter
Step 3.2.
Step (3.2) finds that unique task, and remember if item can be produced by completing some task
Make task, the item resource quantities that remembering the task can produce are num ".Calculating needs to perform the number of the task, is denoted as K, K
Calculation formula it is as follows：Task.input represents the required input resource collections of task,
task.input[i]namRepresent the title of i-th kind of resource in the set, task.input [i]numRepresent i-th kind of money in the set
Quantity needed for source.If n=| task.input |, if：Judge(task.input[1]nam, task.input [1]num)
∧…∧Judge(task.input[n]nam, task.input [n]num) disclosure satisfy that to be K times true, then it represents that each subtask
It can complete, function directly returns to true；Otherwise function returns to false.
If by step (3.1) and step (3.2), function does not all terminate step (3.3), then directly returns to false.
Step (4) calls track according to the storehouse of function, reduces tasks carrying flow.In figure 3, triangle point represents straight
Connect and resource is used from system, be not required to produce by other tasks.According to the flow of step (3), Fig. 3 reduces a kind of task point
Solve flow.From the figure 3, it may be seen that the N needed for target is not present in systems, but can be generated with calling task 10.Task 10 needs
Resource A is wanted, is directly obtained from existing resource；Single two other raw material M and L needs to generate by task 9 and task 8.With
, it is necessary to which raw material J and K, this two material need to generate by task 6 and 7 exemplified by task 9., it is necessary to I, G and H by taking task 6 as an example
Raw material, H can be obtained from existing resource, but I and G need to generate by task 5 and task 3.The A of this two task needs,
G, E, F resource can be obtained directly from raw material.Task-decomposing is completed.
Claims (1)
- A kind of 1. heterogeneous multi-robot system task analytic approach based on recursive algorithm, it is characterised in that following steps：(1) during to tasks carrying, involved resource carries out formalization representation；By in multi-robot system, one will be completed The accordingly result that can be produced after the completion of condition and task that item task need to meet is referred to as resource；With two tuple r=<rnam, rnum>To represent, a kind of resource situation wherein in r expressions system, rnamThe species of unique sign resource r, rnumRepresent resource r Quantity；With R={ r1, r2..., rNThe resource overall state of system under formalization current state, wherein N represents the robot Resource involved by system always plants number；(2) on the basis of step (1), can be done to a triple to robot for task carries out formalization representation：task =<Name, owner, input, output>, wherein, name uniquely indicates the generic task；Owner is the ID of a robot, Represent that the corresponding robots of the ID have the ability to complete this task；Input represents that this task of completion needs the resource situation consumed, is One by r=<rnam, rnum>The set of composition, output represent to complete the resource situation that can produce of this task, and one by r =<rnam, rnum>The set of composition；In many heterogeneous robot environment, the ability between different machines people is not reported to the leadship after accomplishing a task mutually, because This is for any two different task taskiAnd taskj,(3) the Task-decomposing algorithm based on recursive function is called；A recursive function Judge (item, num) is defined, for sentencing Under disconnected current environment, if num item resource of export of a series of production procedure can be used；If it can, function returns to true； If it could not, function returns to false；The recursive function is characterized in that following steps：(3.1) relation of the number num ' and num of item resources in existing resource are compared；If existing item resource quantities are more than Equal to num, then function directly returns to true；And for example the quantity of the existing item resources of fruit is less than num and is not 0, if Judge (item, num-num ') is true, then function directly returns to true；If Judge (item, num-num ') is false, then enter step (3.2)；(3.2) if item can be produced by completing some task, that unique task is found, and is denoted as task, The item resource quantities that remembering the task can produce are num "；Calculating needs to perform the number of the task, is denoted as K, and the calculating of K is public Formula is as follows：Task.input represents the required input resource collections of task, task.input [i]namRepresent the title of i-th kind of resource in the set, task.input [i]numRepresent the number needed for i-th kind of resource in the set Amount；If n=| task.input |, if：Judge(task.input[1]nam, task.input [1]num)∧...∧Judge (task.input[n]nam, task.input [n]num) disclosure satisfy that to be K times true, then it represents that each subtask can complete, letter Number directly returns to true；Otherwise function returns to false；(3.3) if by step (3.1) and step (3.2), function does not all terminate, then directly returns to false；(4) track is called according to the storehouse of function, reduces tasks carrying flow.
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| CN109408157A (en) * | 2018-11-01 | 2019-03-01 | 西北工业大学 | A kind of determination method and device of multirobot cotasking |
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| CN109492745A (en) * | 2018-11-01 | 2019-03-19 | 西北工业大学 | A kind of intelligence machine describes method and device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109450770A (en) * | 2018-09-26 | 2019-03-08 | 深圳壹账通智能科技有限公司 | Service executing apparatus, device, computer equipment and storage medium |
| CN109408157A (en) * | 2018-11-01 | 2019-03-01 | 西北工业大学 | A kind of determination method and device of multirobot cotasking |
| CN109492745A (en) * | 2018-11-01 | 2019-03-19 | 西北工业大学 | A kind of intelligence machine describes method and device |
| CN109408157B (en) * | 2018-11-01 | 2022-03-04 | 西北工业大学 | Method and device for determining multi-robot cooperative task |
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