基于人机协作的无人集群搜索方法研究

doi:10.16182/j.issn1004731x.joss.20-0898

系统仿真学报 ›› 2022, Vol. 34 ›› Issue (4): 735-744.doi: 10.16182/j.issn1004731x.joss.20-0898

基于人机协作的无人集群搜索方法研究

周鑫(), 王维平, 朱一凡, 王涛, 井田

国防科技大学，湖南长沙 410073

收稿日期:2020-11-14 修回日期:2020-12-28 出版日期:2022-04-30 发布日期:2022-04-19
作者简介:周鑫(1990-)，男，博士，讲师，研究方向为数字决策与仿真评估、系统仿真、不确定环境下多智能体规划。 E-mail：zhouxin09@nudt.edu.cn
基金资助:
国家自然科学基金(72101263)

An Unmanned Swarm Search Method Based on Human-Robot Cooperation

Xin Zhou(), Weiping Wang, Yifan Zhu, Tao Wang, Tian Jing

National University of Defense Technology, Changsha 410073, China

Received:2020-11-14 Revised:2020-12-28 Online:2022-04-30 Published:2022-04-19

摘要/Abstract

摘要：

人与机器人交互是当前一项研究热点，人与无人集群协作搜索是人机交互的典型场景，通过结合人的复杂推理能力和无人集群的重复精确执行能力以完成更为复杂的任务。以不确定场景下高价值目标搜索为背景，给出了人与无人集群协作搜索问题概念定义；为描述多Agent系统如何在人工辅助下进行选择目标区域进行探索，构建了一种先验态势不确定情况下多Agent动态规划问题模型；提出了一种基于顺次分配的动态规划算法。并对该方法进行了仿真实验，实验结果表明：该算法性能明显高于基准算法。

关键词: 无人集群, 人机协作, 动态规划, 多Agent系统

Abstract:

Human-robot collaboration is a research hotspot and the human and unmanned swarm collaborative search is a typical scenario. It can carry out the more complex tasks by combining the human complex reasoning capabilities with repeated and precise execution capabilities of unmanned swarm. Based on the high-value target search of the uncertain scenarios, the concept definition for the collaborative search of human and unmanned swarm is given. A multi-agent dynamic programming model under uncertain with unknown prior knowledge is proposed, established to describe how the multi-agent system carries out the search under human support. A dynamic programming algorithm based on sequential allocation is proposed and the simulation experiments are carried out. The experimental results show that the performance of the algorithm is significantly better than that of the basic algorithm.

Key words: unmanned swarm, human-robot collaboration, dynamic planning, multi-agent system

中图分类号:

TP391.9

周鑫, 王维平, 朱一凡, 王涛, 井田. 基于人机协作的无人集群搜索方法研究[J]. 系统仿真学报, 2022, 34(4): 735-744.

Xin Zhou, Weiping Wang, Yifan Zhu, Tao Wang, Tian Jing. An Unmanned Swarm Search Method Based on Human-Robot Cooperation[J]. Journal of System Simulation, 2022, 34(4): 735-744.

图/表 5

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基于人机协作的无人集群搜索方法研究

An Unmanned Swarm Search Method Based on Human-Robot Cooperation

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