Abstract: According to the problem in multirobot task allocation method based on genetic algorithm, that the initial population generated randomly is not well characterized the whole solution space, and it’s easy to fall into local optimal solution, this paper proposes a new multirobot task allocation method. This method is based on the utility value of the robot to determine the individual’s genes, resulting in the initial population, and by hierarchical genetic algorithm different groups with different optimal genes are evolution separately. Simulation results show that this method has higher efficiency and faster convergence.

Key words: task allocation, hierarchical genetic algorithm, initial population, utility value, optimal gene