摘要
多机器人任务规划是多机器人系统研究的主要问题之一,多目标多机器人任务规划是指同时对多机器人系统的多个指标进行优化。近年来,启发式算法越来越多地被用来解决多目标问题。本文提出了一种基于改进烟花算法的多目标多机器人任务分配方法,并详细讨论了多目标解的排序方法和选择策略。为了验证该方法的性能,对7个实例进行了实验,并对该方法和其他四种多目标算法,Non-dominated Sorting Genetic Algorithm II(NSGA-II),Strength Pareto Evolutionary Algorithm 2(SPEA2),Pareto Envelope-based Selection Algorithm(PESA)和一种改进的Strength Pareto Genetic Algorithm 2(SPGA2)在S-metric指标上进行了比较。实验结果表明,在解集质量、解集覆盖度方面,基于改进烟花算法的多目标多机器人任务分配方法具有明显的优势。
Multi-robot mission planning is one of the main problems in multi-robot system research.Multi-objective multi-robot mission planning refers to optimizing multiple indicators of the multi-robot system at the same time.In recent years,heuristic algorithms have increasingly been used to solve multi-objective problems.In this paper,a multi-objective multi-robot mission planning method based on improved fireworks algorithm was proposed.In addition,the sorting method and selection strategy of the multi-objective solutions were discussed in detail.In order to verify the performance of the method,seven instances were tested,and the method was compared with other four multi-objective algorithms on the S-metric index.The other four multi-objective algorithms were Non-dominated Sorting Genetic Algorithm II(NSGA-II),Strength Pareto Evolutionary Algorithm 2(SPEA2),Pareto Envelope-based Selection Algorithm(PESA)and an Improved Strength Pareto Genetic Algorithm 2(SPGA2).Experimental results shown that the proposed multi-objective multi-robot mission planning method based on improved fireworks algorithm has obvious advantages both in Pareto solution set quality and solution set scale.
作者
张涛
刘天威
李富章
胡孟阳
Zhang Tao;Liu Tianwei;Li Fuzhang;Hu Mengyang(School of Electrical Automation and Information Engineering,Tianjin University,Tianjin 300072,China)
出处
《信号处理》
CSCD
北大核心
2020年第8期1243-1252,共10页
Journal of Signal Processing
关键词
烟花算法
多目标优化
多机器人任务分配
fireworks algorithm
multi-objective optimization
multi-robot mission planning
作者简介
张涛,男,1975年生,黑龙江北安人。博士,天津大学电气自动化与信息工程学院副教授、博士生导师,主要研究方向为数字音视频处理、DSP系统设计与应用、媒体处理器结构设计、复杂嵌入式系统资源优化分配算法研究。E-mail:zhangtao@tju.edu.cn;刘天威,女,1997年生,河北保定人。天津大学电气自动化与信息工程学院硕士研究生。主要研究方向为单目标优化理论研究、群智能算法研究。E-mail:ltw@tju.edu.cn;通讯作者:李富章,女,1995年生,河北保定人。天津大学电气自动化与信息工程学院硕士研究生。主要研究方向为群智能优化算法的研究和应用、多目标优化理论的研究和应用。E-mail:lifuzhang_tiei@163.com;胡孟阳,男,1995年生,河南周口人。工学硕士,主要研究方向为多目标优化理论、复杂嵌入式系统资源优化分配算法研究。E-mail:mengyang.hu@tju.edu.cn。
