基于可变自主等级的有人机/无人机控制方法  

A Control Method for Manned/Unmanned Aerial Vehicle Formation Based on Variable Autonomy

作　　者：张冬 杨继国 尤灵辰 杨大鹏 ZHANG Dong;YANG Jiguo;YOU Lingchen;YANG Dapeng(Shenyang Aircraft Design and Research Institute,Aviation Industry Corporation of China,Shenyang 110035,China;No.1 Military Representative Office of Equipment Department of PLA Air Force in Shenyang,Shenyang 110850,China;Bio-inspired Autonomous Flight Systems Research Group,Science and Technology on Aircraft Control Laboratory,School of Automation Science and Electrical Engineering,Beihang University,Beijing 100083,China)

机构地区：[1]中国航空工业集团公司沈阳飞机设计研究所,沈阳110035 [2]空军装备部驻沈阳地区第一军事代表室,沈阳110850 [3]北京航空航天大学自动化科学与电气工程学院飞行器控制一体化技术重点实验室仿生自主飞行系统研究组,北京100083

出　　处：《无人系统技术》2023年第6期80-90,共11页Unmanned Systems Technology

摘　　要：针对有人机/无人机变自主权限控制的问题,研究了有人机/无人机集群的变自主等级控制机制。首先,设计了有人机/无人机集群自主等级,并分析了影响集群变自主等级的相关因素,建立了评估当前飞行态势的相关指标与方法,利用多属性决策理论计算适合的自主等级。其中,引入用户精力矩阵评估操作员在不同等级下的精力损耗,对操作员干预的必要性进行评价,得到适合的自主等级。随后,在不同自主等级基础上,设计了自主等级转换规则,解决了不同环境态势下集群变自主等级控制问题。最后,开发了图形用户界面,对有人机/无人机集群进行控制仿真。根据结果可知,可变自主等级在任务总耗时不变的情况下,能够大幅减少操作员与系统的交互时间,降低其操作负荷,证明了所提有人机/无人机集群变自主权限飞行的有效性。与固定自主等级的控制方案相比,变自主等级控制方法有着更好的控制效果。For the control of manned/unmanned aerial vehicle cluster,the variable autonomy control mechanism is researched based on the relevant study on variable autonomy of unmanned system.Firstly,the autonomy levels for manned/unmanned aerial vehicle clusters are designed,and the factors influencing them are analyzed.Relevant indicators and the methods for assessing the current flight situation are then established,and multi-attribute decision theory is employed to calculate the appropriate autonomy level.In the process,the user energy loss matrix is introduced to assess the burden of the operator and the necessity of operator intervention,in order to determine the suitable autonomy level.Subsequently,based on the different autonomy levels designed,rules for transitioning between autonomy levels are designed to address control problems in different environmental situations.Finally,a graphical user interface is developed to simulate the flight of manned/unmanned clusters.The simulation results demonstrate that the variable autonomy level control method is capable of accomplishing the assigned tasks.With little difference in total task duration,the interaction time between the operator and the system is significantly reduced,implying the operator's workload is reduced.Therefore,the effectiveness of the proposed method is proved.Compared to fixed autonomy level control schemes,the proposed variable autonomy level control method achieves better performance.

关 键 词：有人机/无人机 集群控制 可变自主等级 多属性决策 图形用户界面仿真 飞行编队 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]