面向多无人系统的安全协同模型  

Secure Coordination Model for Multiple Unmanned Systems

作　　者：李瑭 秦小麟[1] 迟贺宇 费珂 LI Tang;QIN Xiao-lin;CHI He-yu;FEI Ke(College of Computer Science and Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学计算机科学与技术学院,南京211106

出　　处：《计算机科学》2022年第7期332-339,共8页Computer Science

基　　金：国家自然科学基金(61728204)。

摘　　要：随着无人系统技术的不断发展,多无人系统的协同控制技术受到了广泛的关注。设计合理的协同模型是多无人系统中的重要研究内容,而已有协同模型在开放的网络环境中存在一定的安全性问题。在分析已有模型的不足的基础上,提出了一种具有安全特性的多无人系统协同模型RCC(Rules Combined Coordination)。RCC模型在协同过程中引入了逻辑规则,提供了终端的合法性认证及通信双方的权限控制,保障了多无人系统的安全性。最后,基于开源机器人系统ROS及RCC模型,搭建了多无人车的协同仿真平台,并在其中设计了导航、避障等实验场景,仿真实验的相关结果验证了RCC模型具有可用性和安全性。With the development of unmanned system technology,the coordination control of multiple unmanned systems has been widely concerned.Designing a reasonable coordination model is an important research content of multiple unmanned systems,but existing coordination models have security problems in the open network environment.Based on the analysis of the deficiencies of existing models,a coordination model RCC of multiple unmanned systems with security characteristics is proposed.RCC model introduces logic rules in the coordination process to provide the legality of terminals and the authority control of the communication parties,and ensures the security of multiple unmanned systems.Finally,based on ROS and RCC model,a coordination simulation platform for multiple unmanned vehicles is built,in which experiment scenes of navigation and obstacle avoi-dance are designed.Simulation results verify the practicability and security of RCC model.

关 键 词：无人系统 协同模型 逻辑规则 安全性 仿真系统 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]