Multi-robot task assignment algorithm based on improved self-organizing mapping network
Zhenyu Guo, Dan Liu · Journal of Physics Conference Series · 2020
Abstract In order to solve the problem of slow convergence speed and easy task conflict, a multi-robot task assignment algorithm based on improved self-organizing mapping network is proposed in this paper. Considering the redundancy generated in the solution, the self-locking factor is introduced to optimize. The neuron is then reselected when the path intersects to avoid the risk of collision. The simulation results show that the proposed algorithm can effectively reduce the solution time and the distance of multi-robot navigation compared with the traditional algorithm.