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Multi robot task allocation using market based approach

Yusuf, Fatimah (2015) Multi robot task allocation using market based approach. Masters thesis, Universiti Tun Hussein Onn Malaysia.

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Abstract

Multi robot task allocation (MRTA) can be defined as a set of robots working collaboratively in the same environment to achieve system goals by determining which robot should execute which task. Dangerous or hazardous environment which are not suitable for human being such as removing toxic waste, exploring planets, and removing landmines may require the use of robots. This project describes the algorithm design of multi robot task allocation problem in order to minimize mission cost in terms of time to reach a goal, distance travelled and energy consumption of all robots. This project presents a distributed market based approach, which solves the MRTA problems in applications that require the cooperation among the robots to accomplish the tasks. In market based approach, robots consider the cost function in the negotiation of subset of task via auction – bidder algorithm. The results obtained shows that the market based approach is able to minimize the distance travelled by robots but with some limitations. The system performance is analyzed and simulated using MATLAB software.

Item Type: Thesis (Masters)
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Depositing User: Normajihan Abd. Rahman
Date Deposited: 01 Mar 2016 08:30
Last Modified: 01 Mar 2016 08:30
URI: http://eprints.uthm.edu.my/id/eprint/7712
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