Research On Task Allocation Algorithm For Heterogeneous Robot Group Target Searching

In this paper, a collaborative target searching system of heterogeneous robot group is developed, which can understand the searching target according to human natural language instructions and carry out the searching until the target is found. The system is relatively complex, and the technology mainly involves network communication, natural language understanding, task allocation, motion planning and target recognition. This paper focuses on the optimization algorithm of target searching task allocation based on ant colony algorithm. The algorithm considers not only the distance of the robot from the target object but also its structural characteristics and ability, so that the searching task is allocated to the most suitable robots, resulting in a fast and good searching task.