水面有人/无人舰艇协同控制问题初探  

Research on collaborative control of manned/unmanned boats on the surface

作　　者：王琦[1] 冯伟强 孔维玮 蔡成涛 WANG Qi;FENG Weiqiang;KONG Weiwei;CAI Chengtao(School of Intelligent Science and Engineering,Harbin Engineering University,Harbin 150009,China;No.92942 Unit of PLA,Beijing 100161,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001 [2]中国人民解放军92942部队,北京100161

出　　处：《舰船科学技术》2024年第17期127-131,共5页Ship Science and Technology

摘　　要：随着智能化无人舰艇在军事领域不断发展与应用,有人节点与无人节点的协同控制成为最大化发挥作战性能的有效手段。本文在对无人舰艇、有人舰艇以及有人/无人舰艇协同作战的优点进行总结的基础上,提出基于感知-调整-决策-行动(Observe-Orent-Decide-Act,OODA)的混合式协同决策中水面有人/无人舰艇协同控制框架,该框架描述了有人节点与无人节点在协同决策控制中的交互部分与无人节点和有人节点的具体分工与流程。最后本文对协同侦察预警与协同作战攻击2个特定任务场景在OODA不同层面的协同进行阐述与分析。With the continuous development and application of intelligent unmanned boats in the military field,collaborative decision-making control between manned and unmanned nodes has become an effective means to maximize combat performance.On the basis of summarizing the advantages of unmanned boats,manned boats,and manned/unmanned boat collaborative operations,this article proposes a framework for manned/unmanned boat collaborative decision control in hybrid collaborative decision-making based on OODA.This framework describes the interaction between manned nodes and unmanned nodes in collaborative decision control,as well as the specific division of labor and process between unmanned nodes and manned nodes.Finally,the collaborative decision-making of manned/unmanned vehicles is analyzed and studied from two aspects:collaborative reconnaissance warning and collaborative combat attack.

关 键 词：无人舰艇集群 有人/无人协同 协同控制 

分 类 号：U675.95[交通运输工程—船舶及航道工程]