基于人机协作的无人集群搜索方法研究  

An Unmanned Swarm Search Method Based on Human-Robot Cooperation

作　　者：周鑫[1] 王维平[1] 朱一凡[1] 王涛[1] 井田 Zhou Xin;Wang Weiping;Zhu Yifan;Wang Tao;Jing Tian(National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学,湖南长沙410073

出　　处：《系统仿真学报》2022年第4期735-744,共10页Journal of System Simulation

基　　金：国家自然科学基金(72101263,62003359)。

摘　　要：人与机器人交互是当前一项研究热点,人与无人集群协作搜索是人机交互的典型场景,通过结合人的复杂推理能力和无人集群的重复精确执行能力以完成更为复杂的任务。以不确定场景下高价值目标搜索为背景,给出了人与无人集群协作搜索问题概念定义;为描述多Agent系统如何在人工辅助下进行选择目标区域进行探索,构建了一种先验态势不确定情况下多Agent动态规划问题模型;提出了一种基于顺次分配的动态规划算法。并对该方法进行了仿真实验,实验结果表明:该算法性能明显高于基准算法。Human-robot collaboration is a research hotspot and the human and unmanned swarm collaborative search is a typical scenario.It can carry out the more complex tasks by combining the human complex reasoning capabilities with repeated and precise execution capabilities of unmanned swarm.Based on the high-value target search of the uncertain scenarios,the concept definition for the collaborative search of human and unmanned swarm is given.A multi-agent dynamic programming model under uncertain with unknown prior knowledge is proposed,established to describe how the multiagent system carries out the search under human support.A dynamic programming algorithm based on sequential allocation is proposed and the simulation experiments are carried out.The experimental results show that the performance of the algorithm is significantly better than that of the basic algorithm.

关 键 词：无人集群 人机协作 动态规划 多AGENT系统 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]