Multi-robot task allocation algorithm based on anxiety model and modified contract network protocol

In order to solve the problem of task allocation in the aspects of division, cooperation and competition among multiple search and rescue robots, the concept of anxiety in psychology is introduced to build the anxiety model of robots. Whether the robots participate in the task allocation can be evaluated by using this method. Through the improvement of the traditional Contract Network Protocol (CNP) in terms of task distributing, bidding and confirming, some concepts such as trust, familiarity and capability in the procedure of task auction is put forward. The procedure and algorithm of task allocation are designed. The time which a multi-robot spends in a task can be compared under the condition of different algorithms and different communicating failure rates through the simulation of task allocation algorithm. The robustness of task allocation algorithm will also be verified and analyzed at last.