越野环境下多无人车任务管理关键技术及应用展望  

Key Technologies and Application Prospects of Multi-Unmanned Vehicle Task Management in Off-road Environment

作　　者：孙玉洁 薛建强 苏波 SUN Yujie;XUE Jianqiang;SU Bo(China Northern Vehicle Research Institute,Beijing 100072,China;China North Artificial Intelligence&Innovation Research Institute,Beijing 100072,China;Collective Inteligence&Colaboration Laboratory,Beijing 100072,China;School of Beijing Institute of Technology Automation,Beijing 100089,China)

机构地区：[1]中国北方车辆研究所,北京100072 [2]中兵智能创新研究院有限公司,北京100072 [3]群体协同与自主实验室,北京100072 [4]北京理工大学自动化学院,北京100089

出　　处：《火力与指挥控制》2024年第12期10-26,共17页Fire Control & Command Control

摘　　要：现有人工操控无人车辆的方式,已无法满足陆战场对大规模无人装备指挥控制和灵活调度的需求,随着自动驾驶等无人化技术的发展,构建智能的多无人车任务管理系统并应用真实作战场景成为可能。多无人车任务管理系统,不仅能够在复杂越野环境中保证各无人车辆的互联互通和信息交互,还能够依据作战任务的时限及时序关系,保证各无人车辆的行动既紧密协同又消解冲突,提升任务规划和调度能力,加快多无人车协同抗敌的反应速度。面向战场环境/任务临机调整时各无人车任务正确、合理、快速协同的需求,提出越野环境下多无人车任务管理的研究目标和技术体系,归纳总结相关基础理论和关键技术,并对越野环境下多无人车任务管理的应用发展进行展望,为多型无人装备在不确定作战环境下的指挥控制和任务调度提供参考。With the development and application of technologies such as vehicle autonomous driving,the way of manual control of military unmanned vehicle equipment,can't meet the needs of large-scale unmanned equipment command and dispatch in the land battlefield.The multi-unmanned vehicle task management system,can not only ensure the interconnection and information interaction of unmanned vehicles in a complex off-road environment,but also ensure that the actions of each unmanned vehicle are closely coordinated and resolve conflicts according to the time limit and timing relationship of the combat task,It can improve the task planning and scheduling capabilities,and accelerate the response speed of multiple unmanned vehicles to cooperate against the enemy.This paper analyzes the research status of multi-unmanned vehicle task management in off-road environment in terms of network intercon-nection and self-organization,autonomous perception and maneuvering,task decomposition and alloca-tion,etc.To meet the needs of correct,reasonable and rapid coordination of each unmanned vehicle's task when the battlefield environment/task is adjusted,this paper puts forward the research objectives and technical system of multi-unmanned vehicle task management in off-road environment,and summarizes the relevant basic theories and key technologies,and looks forward to the application and development of multi-unmanned vehicle task management in off-road environment,which provides a reference for the command and task scheduling of multi-type unmanned equipment in uncertain combat environment.

关 键 词：无人车辆 任务管理 越野环境 网络互联 自主感知 任务分解 

分 类 号：TJ301[兵器科学与技术—火炮、自动武器与弹药工程]