Improvement and Simulation of Contract-Net-Based Task Allocation for Multi-robot System

Due to the shortage of ignoring the balance between the mission success rate and the executive ability of the whole system in the common contract net models, a threshold-limited load balance strategy for awarding is proposed. The mathematical model of negotiation process based on improved contract net is established. The conceptual model of the multi-robot system based on improved contract net is implemented by Colored Petri Nets (CPN), and its correctness and dynamic properties such as liveness property, home property and fairness property are validated by using CPN Tools. Simulation results show that this method can effectively improve the performance, and ensure the overall system load balance.