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A reinforcement learning-based optimization method for task allocation of agricultural multi-robots clusters

文献类型：期刊论文

作者Lu, Zaiwang1,2; Wang, Yancong1; Dai, Feng1; Ma, Yike1; Long, Long1; Zhao, Zixu1,2; Zhang, Yucheng1; Li, Jintao1
刊名COMPUTERS & ELECTRICAL ENGINEERING
出版日期2024-12-01
卷号120页码:15
关键词Graph neural network Multi-robot systems Agricultural task allocation Multiple traveling salesmen problem Reinforcement learning
ISSN号0045-7906
DOI10.1016/j.compeleceng.2024.109752
英文摘要The Agricultural multi-robot task allocation (AMRTA) can allocate the optimal operation sequence for the cluster of agricultural robots and improve overall operational efficiency, which is an important research direction for the development of intelligent agriculture. In this paper, we first analyzed the practical requirements of multi-robot task allocation in agriculture and reformulate it as Node Workload-Constrained Multi Traveling Salesman Problem (NWCMTSP), aiming to minimize the maximum operating time of sub-robots while ensuring a balanced distribution of workload as much as possible. Then, we implemented path planning algorithm required for task allocation and constructed an objective function based on it; we also constructed a graph structure containing workloads of nodes, used graph neural networks to obtain node feature information, and propose a Reinforcement Learning-based Attention Mechanism Policy Optimization Network (NWC-APONet) method to find the optimal allocation scheme. Finally, our model evaluated using real agricultural datasets, i.e., the TSPLIB public dataset and random datasets. Experiments results demonstrate that NWC-APONet achieves superior task allocation, which prove our model's practical applicability and effectiveness in AMRTA.
WOS研究方向Computer Science ; Engineering
语种英语
WOS记录号WOS:001343530400001
出版者PERGAMON-ELSEVIER SCIENCE LTD
源URL[http://119.78.100.204/handle/2XEOYT63/39503]  
专题中国科学院计算技术研究所期刊论文_英文
通讯作者Dai, Feng
作者单位1.Chinese Acad Sci, Inst Comp Technol, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Lu, Zaiwang,Wang, Yancong,Dai, Feng,et al. A reinforcement learning-based optimization method for task allocation of agricultural multi-robots clusters[J]. COMPUTERS & ELECTRICAL ENGINEERING,2024,120:15.
APA Lu, Zaiwang.,Wang, Yancong.,Dai, Feng.,Ma, Yike.,Long, Long.,...&Li, Jintao.(2024).A reinforcement learning-based optimization method for task allocation of agricultural multi-robots clusters.COMPUTERS & ELECTRICAL ENGINEERING,120,15.
MLA Lu, Zaiwang,et al."A reinforcement learning-based optimization method for task allocation of agricultural multi-robots clusters".COMPUTERS & ELECTRICAL ENGINEERING 120(2024):15.

入库方式： OAI收割

来源：计算技术研究所

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