【作者】 韩翃； 康凤举； 王圣洁； 姚林海；

【Author】 HAN Hong~(1,2),KANG Fengju~(1,2),WANG Shengjie~(1,2),YAO Linhai~(1,2) (1.Marine College of Northwestern Polytechnical University,Xi’an 710072,China; 2.Underwater Information and Control State Key Laboratory,Xi’an 710072,China)

【机构】 西北工业大学航海工程学院； 水下信息与控制国家重点实验室；

【摘要】 针对UUV水下通信存在的时延和数据包丢失等问题,提出一种将编队队形控制的任务划分为领航UUV的任务分配和单个UUV的自主行为两层智能决策体系:在主从UUV之间通信畅通时,采用案例推理的智能决策方法解决领航UUV对从UUV的任务分配问题;在主从UUV通信不畅时采用行为融合的加权算法解决单UUV在编队中的自主行为决策问题。在多UUV仿真实验平台对上述算法进行了验证,实验结果表明,在主从UUV之间通信不畅的时候,该方法依然能较好的保持UUV的队形并能根据环境及时调整队形。更多还原

【Abstract】 To solve the problem that there are data delay and lose in communication of UUV,proposed a Intelligent decision-making system that has tow layers.One is the mission assignment of the leader UUV and another is the self-activity of the single UUV.The mission assignment can be solved in CBR when the communication between leader and follower.By contraries,it can be solved in action syncretic weighted arithmetic.It’s validated on multi-UUV simulation platform that the Intelligent decision-making system can make UUV formation stable when the communication between leader and follower.更多还原