Algorithm of task-allocation based on realizing at the lowest cost in multimobile robot system

The popular and several restricted forms of task allocation issue are NP problems. It searches a feasible matching scheme to realize corresponding object models. This paper adopted Hungarian algorithm to realize task allocation of the robots based on two-dimensional assignment problem aiming at multimobile robot system. It resolves the problem for the robot how to get the tasks and realize them at minimal cost And we designed an emulational test bed based on the multi-robot material flow system of the storages and docks which made distributed programming using LAN. Then we made some emulational experiments on Hungarian algorithm and compared it with the other algorithms.