Abstract:
Aiming at the task allocation problem of soccer robot system, this paper proposes a task allocation method based on utility function value. On the base of deep analysis task allocation of soccer robot system, the paper presents the definition of robotic utility function, and mainly discusses the concrete building process of utility functions for robotic players relative to different subtasks, task allocation algorithm of soccer robot system based on utility value is given. Simulation experimental results show that the method has less calculation amount, well real-time performance, and better task allocation effect than those methods mentioned in related references.
Key words:
soccer robot,
task generation,
task decomposition,
task allocation,
utility function
摘要： 针对足球机器人系统中的任务分配问题，提出一种基于效用函数值的任务分配方法。在分析足球机器人系统任务分配问题的基础上，对机器人效用函数进行定义，并论述机器人球员相对于不同子任务效用函数的构建过程，给出基于效用值的足球机器人系统任务分配算法。仿真实验结果表明，该方法计算量小、实时性好，任务分配性能优于已有文献中的方法。
关键词:
足球机器人,
任务产生,
任务分解,
任务分配,
效用函数
CLC Number:
CHEN Jian-Beng, YANG Yi-Min, WEI Liang. Soccer Robot System Task Allocation Method Based on Utility Value[J]. Computer Engineering, 2011, 37(01): 197-200.
陈建平, 杨宜民, 魏良. 基于效用值的足球机器人系统任务分配方法[J]. 计算机工程, 2011, 37(01): 197-200.