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一个面向异构多UUV协作任务的分层式控制系统
Alternative TitleA Hierarchical Control System for Heterogeneous Multiple UUV Cooperation Task
许真珍; 李一平; 封锡盛
Department水下机器人研究室
Source Publication机器人
ISSN1002-0446
2008
Volume30Issue:2Pages:155-159,164
Indexed ByEI ; CSCD
EI Accession number20082011256268
CSCD IDCSCD:3256936
Contribution Rank1
Funding Organization国家863计划资助项目(2006AA04Z262);;国家自然科学基金资助项目(60434030);;中国科学院创新基金资助项目(06F6030601)
Keyword多无人水下机器人 多智能体系统 Petri网 异构系统 分层式体系结构
Abstract针对异构多UUV协作任务,提出了基于多智能体系统的分层式体系结构(MAHA).在个体层面,将UUV智能体的思维状态分为社会心智和个体心智两个层次分别实现,更加符合人类社会协作模式;在群体层面,提出了复杂海洋环境下UUV群体结构的评价准则,并据此将MAHA与现有结构进行了对比分析.此外,利用面向对象的Petri网理论建立了系统的协作模型,有效降低了系统建模的复杂性.最后,水下多目标搜索使命的实例研究表明,MAHA能够保证异构UUV之间进行有效的协作.
Other AbstractFor cooperation task of heterogeneous multiple unmanned underwater vehicles(UUVs),a MAS(multi-agent system) based hierarchical architecture(MAHA) is presented.On the individual level,the mental state of UUV agent is divided into social mental state and personal mental state which are implemented respectively,agreeing much more with the cooperation mode of human society.On the colonial level,evaluation criterions for UUV colony architecture in complex undersea environment are given to compare MAHA with the existing UUV colony architectures.In addition,cooperation model of the system is established with the help of object-oriented Petri net,which effectively decreases the complexity of system modelling.At last,an undersea multi-target searching mission is presented as an example to show the effectiveness of cooperation among heterogeneous UUVs under MAHA.
Language中文
Citation statistics
Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3486
Collection水下机器人研究室
Corresponding Author许真珍
Affiliation1.中国科学院沈阳自动化研究所机器人学重点实验室
2.中国科学院研究生院
Recommended Citation
GB/T 7714
许真珍,李一平,封锡盛. 一个面向异构多UUV协作任务的分层式控制系统[J]. 机器人,2008,30(2):155-159,164.
APA 许真珍,李一平,&封锡盛.(2008).一个面向异构多UUV协作任务的分层式控制系统.机器人,30(2),155-159,164.
MLA 许真珍,et al."一个面向异构多UUV协作任务的分层式控制系统".机器人 30.2(2008):155-159,164.
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