面向多智能体UUV协同系统的任务分配建模

系统仿真学报 ›› 2015, Vol. 27 ›› Issue (9): 2075-2082.

面向多智能体UUV协同系统的任务分配建模

梁洪涛^1,2, 康凤举^1,2

1.西北工业大学航海学院,西安 710072;
2.水下信息处理与控制国家级重点实验室,西安 710072

收稿日期:2015-06-15 修回日期:2015-07-10 出版日期:2015-09-08 发布日期:2020-08-07

Task Allocation Modeling for Agent-oriented UUV Collaborative System

Liang Hongtao^1,2, Kang Fengju^1,2

1. Marine College, Northwestern Polytechnical University, Xi'an 710072, China;
2. National Key Laboratory of Underwater Information Process and Control, Xi'an 710072, China

Received:2015-06-15 Revised:2015-07-10 Online:2015-09-08 Published:2020-08-07
About author:Liang Hongtao(1988-), Male, Hanzhong, Shaanxi, China, Doctor, Research direction: system control, modeling and simulation; Kang Fengju (1947-), Male, Nantong, Jiangsu, China, Professor, Research direction: modeling and simulation.

摘要/Abstract

摘要： 针对UUV协同系统的任务分配问题展开研究。在分析合同网协议特点及其可行性的基础上,提出了一种面向多智能体UUV协同系统的扩展合同网任务分配模型,设计了圆形信任区域的招标策略以缩小发标范围,建立了面向自身能力约束的招标策略以提高通信效率,并且构建了综合评判的中标策略以提高协商质量,经过招标、投标和中标等各个阶段递阶式的减少通信规模,实现协同系统的分布式任务分配。仿真实验结果表明了该模型能够有效地实现UUV协同系统的任务分配。

关键词: UUV, 协同系统, 任务分配, 智能体, 扩展合同网

Abstract: Task allocation modeling plays an important role in UUV collaborative system. In order to solve task allocation problem for the collaborative capability and efficiency, the Extended Contract Net Protocol (ECNP) task allocation approach was creatively proposed, which mainly focused on narrow the scope of communication and improving the negotiation efficiency. In this approach, Regional Trust Degree was introduced to narrow the scope in Announcement stage; and the capacity constraints (Energy-state, Health-State, and Detecting-window) were employed to decide whether to participate in bidding stage; also mixed-weighting evaluation strategy based on Game theory was proposed to evaluate the biding in Awarding stage. The typical experiment was designed to verify the proposed approach. Simulation results show the proposed model has good performance for Agent-oriented UUV collaborative system.

Key words: unmanned underwater vehicle, collaborative system, task allocation, Agent, extended contract net protocol

中图分类号:

TP391.9

梁洪涛, 康凤举. 面向多智能体UUV协同系统的任务分配建模[J]. 系统仿真学报, 2015, 27(9): 2075-2082.

Liang Hongtao, Kang Fengju. Task Allocation Modeling for Agent-oriented UUV Collaborative System[J]. Journal of System Simulation, 2015, 27(9): 2075-2082.

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