基于行为树的水下运载器减压行为决策研究  

Research on decompression behavior decision of underwater vehicle based on behavior tree

作　　者：宋子翯 王小舟 段杰 SONG Zi-he;WANG Xiao-zhou;DUAN Jie(Kunming Branch of the 705 Research Institute of CSSC,Kunming 650101,China)

机构地区：[1]中国船舶集团有限公司第七〇五研究所昆明分部,云南昆明650101

出　　处：《舰船科学技术》2024年第4期61-65,共5页Ship Science and Technology

摘　　要：为减小乘员手动控制水下运载器上浮减压的安全风险,以水下运载器自动上浮停留减压问题为研究对象,分析水下运载器在水中的一系列减压过程,提出水下运载器自动上浮停留减压需求,基于行为树技术对水下运载器在减压过程中的行为决策进行设计与建模。针对该行为决策模型进行仿真实验,通过仿真实验验证所设计行为树符合预期,为提升水下运载器智能化奠定基础。In order to reduce the safety risk of swimmer controls underwater vehicle floating decompression manually,the automatic floating and staying decompression of underwater vehicle was taken as the research object,a series of decompression processes of underwater vehicle in water were analyzed,and the requirements for automatic floating and staying decompression of underwater vehicle were proposed.Behavioral decison making in the decompression process of underwater vehicle was designed and modeled based on bahavior tree technology.According to the bahavior decision madel,simulation experiments are carried out.Through the simulation experiments,the designed bahavior tree is verified to meet the expectations,which lays the foundation for improving the intelligence of underwater vehicle.

关 键 词：行为树技术 潜水减压 行为决策 仿真测试 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]