Abstract: In this paper, a multirobot task planning framework is proposed by solving optimal path allocation problem. Formal description of task planning problem for optimal path allocation is brought forth and the integral framework is depicted. To implement this framework, three important techniques are explored in depth including Shortest Path with Recourse Problem(SPRP), solving multiple traveling robots problem by randomized algorithms, and update model of probability framework. Exerimental results illustrate that this framework is feasible and practical.

Key words: task plan, multirobot, random optimization

摘要： 提出一种优化路径分配的多机器人任务规划框架。对任务规划问题进行形式化描述，在此基础上，探讨实现优化路径分配的任务规划的关键技术，包括追索最短道路求解方法、多目标任务分配的随机化求解和概率框架的更新模型。实验结果表明，该理论框架具有可行性和实用性。

关键词: 任务规划, 多机器人, 随机优化

CLC Number: 

• TP18