摘要
在复杂环境中,环境动态性和任务多样性给无人集群自主协同、有人系统与无人集群协同带来了巨大挑战.为此,提出了有人/无人集群任务规划系统集成框架.该框架集成无人平台自主行为规划系统,无人集群分布式系统与有人/无人集群系统.无人平台通过感知、认知、决策与控制完成自主行为规划.无人平台间通过交互信息,彼此决策方式协同规划.有人系统支持在预先规划、实时规划与事后评估阶段与无人集群的协同交互.
In complex environments,the environmental dynamic and task diversity have brought great challenges to the autonomous coordination of unmanned swarms,coordination between manned system and unmanned swarm.Therefore,a manned/unmanned swarm mission planning system integration framework is proposed.The framework integrates the autonomous behavior planning system of unmanned platform,unmanned swarm distributed system and manned/unmanned swarm system.The unmanned platform completes autonomous behavior planning through perception,cognition,decision-making and control.The unmanned platforms collaborative planning by exchanging information and making decision-making with each other.Manned systems support collaborative interactions with unmanned swarms during pre-planning,real-time planning,and post-assessment phases.
作者
邹明胤
朱晓敏
包卫东
王吉
刘大千
ZOU Mingyin;ZHU Xiaomin;BAO Weidong;WANG Ji;LIU Daqian(Laboratory for Big Data and Decision,National University of Defense Technology,Changsha Hunan 410073,China;Strategic Assessments and Consultation Institute,Academy of Military Science,Beijing 100097,China)
出处
《指挥与控制学报》
CSCD
2023年第1期45-57,共13页
Journal of Command and Control
基金
国家自然科学基金(61872378,62002369)
国防科技大学科学研究项目(ZK19-03)资助。
关键词
任务规划
无人集群
自主行为规划
系统集成
有人/无人协同
mission planning
unmanned swarm
autonomous behavior planning
system integration
manned/unmanned collaboration
