Abstract: A clonal selection algorithm (CSA) for multi-robot collaborative scheduling was proposed to solve  the difficulties in controlling and optimizing the task assignment and scheduling of multi-robot in the same period in intelligent manufacturing system. Firstly, the initial conditions of multi-robot task were analyzed. Then taking the task completion as the constraint condition and taking task flow time, single robot maximum cost and multi-robot total cost as the objective function, a mathematical model of multi-robot task allocation and scheduling optimization was constructed. The affinity function was introduced to dynamically change the parameters of clone, mutation and selection, so as to improve the computational efficiency. Finally, the scheduling method was verified by Gantt chart analysis. The results show that the proposed method is stable and feasible. Meanwhile, the experiments show that the clonal selection algorithm has the superiority of fast convergence speed and high calculation accuracy, and can optimize various indicators under complex multi-task conditions.

Key words: intelligent manufacturing system, multi-robot, multi-task allocation, scheduling, clonal selection algorithm