Simulink/Stateflow的AUV群体协作合同网快速原型仿真  

Rapid Prototype Simulation of Contract Net-based AUV Group Cooperation System by Using Simulink/Stateflow

作　　者：郝莉莉[1,2] 顾浩[1] 杨惠珍[1,2] 康凤举[1,2] 

机构地区：[1]西北工业大学航海学院,西安710072 [2]水下信息处理与控制国家级重点实验室,西安710072

出　　处：《火力与指挥控制》2013年第2期26-30,共5页Fire Control & Command Control

基　　金：国家重点实验室基金资助项目(9140C2305041001)

摘　　要：基于合同网的AUV群体协作系统是一个混合系统,既包括合同网任务分配这一离散事件驱动模型,又包括AUV运动学模型。在研究合同网任务分配方法的基础上,提出了基于Simulink/Stateflow的AUV群体协作合同网快速原型的建立与仿真方法,实现了基于Stateflow的合同网任务分配模块与基于Simulink的AUV运动学模块的混合仿真,并给出了有、无合同网的仿真对比。仿真结果表明,该方法能够简单、快速和形象地模拟AUV系统的协同作业过程,是验证任务分配方法和分析效能的有效手段。AUV group cooperative system based on contract net is a hybrid system, which includes not only contract net-based task allocation model derived by the discrete event, but also the kinematical model of AUV. A rapid prototyping and simulation method for contract net-based AUV group cooperative system by means of Simulink/Stateflow is proposed. Hybrid simulation of contract net- based task allocation model by using Stateflow and AUV kinematical model by using Simulink is realized, and the comparisons between with and without contract net are given. Simulation results show that this method is simple and quick to simulate the cooperative process of AUV group system. It＇s an effective mean to validate the task allocation method and analysis performance.

关 键 词：STATEFLOW 合同网 任务分配 AUV群体协作 快速原型 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]