Multirobot Adaptive Task Allocation of Intelligent Warehouse Based on Evolutionary Strategy

Algorithm 1

Adaptive control strategy.

Input: lastAdjustTime, currentTime, lastTasksCompleted, tasksCompleted, oldThreshold, lastAction

Output: newThreshold, lastAction

1: ifthen

2: ifthen

3:  

4:  

5: else ifthen

6:  

7: else

8:  

9:  

10: else

11: 

12: return newThreshold, lastAction