模块化可重构服务机器人群的任务规划

doi:10.3969/j.issn.0372-2112.2016.01.015

电子学报 ›› 2016, Vol. 44 ›› Issue (1): 101-109.DOI: 10.3969/j.issn.0372-2112.2016.01.015

模块化可重构服务机器人群的任务规划

许烁^1,2, 王阳¹, 孙成恺¹

1. 上海大学机电工程与自动化学院, 上海 200072;
2. 上海市智能制造及机器人重点实验室, 上海 200072

收稿日期:2014-04-09 修回日期:2015-08-18 出版日期:2016-01-25
- 作者简介:
- 许烁 男,1982年8月出生,河北望都人,副教授、硕士生导师.2005年和2011年分别在上海交通大学获工学学士和工学博士学位.现为上海大学机电工程与自动化学院教师,主要从事服务机器人机器智能与人机关系、计算智能等方面的研究工作. E-mail:sxu@shu.edu.cn 王阳 男,1993年9月出生,安徽淮南人.2013年在安徽工业大学获工学学士学位.现为上海大学机电工程与自动化学院硕士研究生,主要从事计算智能方面的研究工作.孙成恺男,1987年4月出生,河南新乡人.2011年和2014年分别在河南理工大学和上海大学获工学学士和工学硕士学位.现为上海德迈科电气控制工程有限公司项目工程师.
- 基金资助:
- 国家自然科学基金 (No.61203351)

Mission Planning for a Team of Modular and Reconfigurable Service Robots

XU Shuo^1,2, WANG Yang¹, SUN Cheng-kai¹

1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China;
2. Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai 200072, China

Received:2014-04-09 Revised:2015-08-18 Online:2016-01-25 Published:2016-01-25
- Supported by:
- National Natural Science Foundation of China (No.61203351)

摘要/Abstract

摘要：

对模块化可重构服务机器人群在医院中应用所产生的任务规划问题进行了分析和建模,提炼出一个多目标、多约束的多维组合优化问题.设计了改进二进制蜜蜂算法(IBBA)进行组合方案寻优.作为一种启发式群智能优化算法,其特点在于:(1)全局搜索和局部搜索的功能划分明确且并行实施;(2)在基本算法框架中融入了组合方案的表示与进化方法、多目标处理方法、约束处理方法等要素;(3)在算法原型的基础上改进了局部搜索策略.针对一个实际算例进行了优化计算,算法在可行性、稳定性、计算结果质量、计算效率、单目标优化等方面取得了较好表现,并从算法机制中得到了合理解释.扩展了模块化可重构机器人的研究范畴,为多目标、多约束的多维组合优化问题提出了通用的建模方法和优化算法.

关键词: 模块化可重构机器人, 机器人群, 多维分配问题, 组合优化问题, 改进二进制蜜蜂算法

Abstract:

The mission planning problem of a team of modular and reconfigurable robots (MRRs) in hospital service is studied.By analyzing and modeling, it is abstracted as a multidimensional combinatorial optimization problem with multiobjectives and multiconstraints.A population-based metaheuristic, the Improved Binary Bees Algorithm (IBBA), is proposed to optimize this NP-hard problem.The IBBA is featured as, 1) Functional partitioning and parallel implementation of global search and local search;2) Integrating the methods of combinatorial schemes' expression and evolution, multiobjectives' handling and constraints' handing into the basic algorithm framework;and 3) Improving local search strategy from the prototype algorithm.Experiments are conducted with respect to a practical example.The IBBA exhibits feasibility, stability and advantages over its prototype algorithm in indices of solution quality, computational efficiency and single-objective optimization.Further, the advantages are interpretable from algorithm mechanisms.This study extends the field of research of MMR, and provides a general modeling method and optimization algorithm to solve general combinatorial optimization problems with multiobjectives and multiconstraints.

Key words: modular and reconfigurable robot (MRR), robot team, multidimensional assignment problem (MAP), combinatorial optimization problem (COP), improved binary bee algorithm

中图分类号:

TP242

许烁, 王阳, 孙成恺. 模块化可重构服务机器人群的任务规划[J]. 电子学报, 2016, 44(1): 101-109.

XU Shuo, WANG Yang, SUN Cheng-kai . Mission Planning for a Team of Modular and Reconfigurable Service Robots[J]. Acta Electronica Sinica, 2016, 44(1): 101-109.

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模块化可重构服务机器人群的任务规划

Mission Planning for a Team of Modular and Reconfigurable Service Robots

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