不确定性下USV可变自主控制结构及算法  

Adaptive autonomy control structure and algorithm for USV under uncertainty

作　　者：张汝波[1,2] 邹启杰 杨歌 苏航[2] 

机构地区：[1]哈尔滨工程大学水下机器人国家重点实验室,黑龙江哈尔滨150001 [2]大连民族学院机电信息学院,辽宁大连116600

出　　处：《系统工程与电子技术》2014年第1期128-135,共8页Systems Engineering and Electronics

基　　金：国家自然科学基金(60975071;61100005);国家高技术研究发展计划(863计划)(2009AA04Z215)资助课题

摘　　要：针对水面无人艇(unmanned surface vehicle,USV)在具有不确定性的实际任务形势下实现可变自主的问题,提出一种包含可变自主控制结构和自主等级决策算法的解决方案。可变自主控制结构中考虑了自主等级的划分、自主等级的评价和管理,并设计了基于多属性决策方法的自主等级决策算法。最后在USV导航任务为背景的仿真实验中,证明了可变自主系统控制结构和自主等级决策算法是合理的和有效的,同时显示了可变自主系统研究的实际意义及其对于系统规划性能的提高作用。In view of the problem of realizing adaptive autonomy of unmanned surface vehicle （USV） under physical environment with uncertainty, an adaptive autonomy control sti＇ucture including autonomy level decision algorithm is investigated to solve it. In this structure, the autonomy levels are defined, the evaluation and management mechanism are built, and an algorithm of autonomy level decision based on multi-attribute decision making theory is included. Finally, the navigation simulation experiments are implemented to illustrate the rationality and effectiveness of the control structure and the algorithm. The experiments also show that the adap rive autonomy has the practicality and improves human-robot system＇s planning performance.

关 键 词：自适应控制系统 可变自主控制结构 多属性决策方法 自主等级决策 水面无人艇 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]