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An Improved SOM-Based Method for Multi-Robot Task Assignment and Cooperative Search in Unknown Dynamic Environments

by 1,2,*, 3,*, 2 and 1
1
Hunan Provincial Key Laboratory of Grids Operation and Control on Multi-Power Sources Area, Shaoyang University, Shaoyang 422000, China
2
College of Electrical and Information Engineering, Hunan University, Changsha 410082, China
3
College of Electronic Information and Electrical Engineering, Xiangnan University, Chenzhou 423000, China
*
Authors to whom correspondence should be addressed.
Energies 2020, 13(12), 3296; https://doi.org/10.3390/en13123296
Received: 24 April 2020 / Revised: 20 June 2020 / Accepted: 25 June 2020 / Published: 26 June 2020
The methods of task assignment and path planning have been reported by many researchers, but they are mainly focused on environments with prior information. In unknown dynamic environments, in which the real-time acquisition of the location information of obstacles is required, an integrated multi-robot dynamic task assignment and cooperative search method is proposed by combining an improved self-organizing map (SOM) neural network and the adaptive dynamic window approach (DWA). To avoid the robot oscillation and hovering issue that occurs with the SOM-based algorithm, an SOM neural network with a locking mechanism is developed to better realize task assignment. Then, in order to solve the obstacle avoidance problem and the speed jump problem, the weights of the winner of the SOM are updated by using an adaptive DWA. In addition, the proposed method can search dynamic multi-target in unknown dynamic environment, it can reassign tasks and re-plan searching paths in real time when the location of the targets and obstacle changes. The simulation results and comparative testing demonstrate the effectiveness and efficiency of the proposed method. View Full-Text
Keywords: multi-robot; self-organizing map; dynamic window approach; task assignment and cooperative search; unknown dynamic environments multi-robot; self-organizing map; dynamic window approach; task assignment and cooperative search; unknown dynamic environments
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MDPI and ACS Style

Tang, H.; Lin, A.; Sun, W.; Shi, S. An Improved SOM-Based Method for Multi-Robot Task Assignment and Cooperative Search in Unknown Dynamic Environments. Energies 2020, 13, 3296. https://doi.org/10.3390/en13123296

AMA Style

Tang H, Lin A, Sun W, Shi S. An Improved SOM-Based Method for Multi-Robot Task Assignment and Cooperative Search in Unknown Dynamic Environments. Energies. 2020; 13(12):3296. https://doi.org/10.3390/en13123296

Chicago/Turabian Style

Tang, Hongwei; Lin, Anping; Sun, Wei; Shi, Shuqi. 2020. "An Improved SOM-Based Method for Multi-Robot Task Assignment and Cooperative Search in Unknown Dynamic Environments" Energies 13, no. 12: 3296. https://doi.org/10.3390/en13123296

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