A Bio-Inspired Approach to Task Assignment of Swarm Robots in 3-D Dynamic Environments
提出一种基于自组织映射的仿生方法，用于三维动态环境中群体机器人的任务分配和路径规划，能处理机器人故障或需要多机器人协作的情况，仿真验证了有效性。
Intending to mimic the operating mechanism of biological neural systems, a self organizing map-based approach to task assignment of a swarm of robots in 3-D dynamic environments is proposed in this paper. This approach integrates the advantages and characteristics of biological neural systems. It is capable of dynamically planning the paths of a swarm of robots in 3-D environments under uncertain situations, such as when some robots are presented in or broken down or when more than one robot is needed for some special task locations. A Bezier path optimizing algorithm and a parameter adjusting algorithm are integrated in this paper. It is capable of reducing the complexity of the robot navigation control and limiting the number of convergence iterations. The simulation results with different environments demonstrate the effectiveness of the proposed approach.