Multi-robot task assignment in obstacle environment

In this paper, A solution is proposed for the multi-robot task assignment in obstacle environment, which combines the A∗ algorithm with the genetic algorithm. Our main work are twofold:(a) Path planning method based on A∗ algorithm to search an optimal path between any robot and any target or any two targets; and (b) task assignment method based on the genetic algorithm for the assignment of robots to targets so that the total distance traveled by all robots can be as minimum as possible. Simulation experiments show that all the robots that have targets can avoid obstacle while performing the task with low cost and high velocity of convergence, meeting the real time requirements of multi-robot task assignment in obstacle environment.