Resumen
Background: The existing contract net protocol has low overall efficiency during the bidding and release period, and a large amount of redundant information is generated during the negotiation process. Methods: On the basis of an ant colony algorithm, the dynamic response threshold model and the flow of pheromone model were established, then the complete task allocation process was designed. Three experimental settings were simulated under different conditions. Results: When the number of agents was 20 and the maximum load value was Lmax=3" role="presentation">??max=3Lmax=3
L
max
=
3
, the traffic and run-time of task allocation under the improved contract net protocol decreased. When the number of tasks and Lmax" role="presentation">??maxLmax
L
max
was fixed, the improved contract net protocol had advantages over the dynamic contract net and classical contract net protocols in terms of both traffic and run-time. Setting up the number of agents, tasks and Lmax" role="presentation">??maxLmax
L
max
to improve the task allocation under the contract net not only minimizes the number of errors, but also the task completion rate reaches 100%. Conclusions: The improved contract net protocol can reduce the traffic and run-time compared with classical contract net and dynamic contract net protocols. Furthermore, the algorithm can achieve better assignment results and can re-forward all erroneous tasks.