有人/无人机混合编队有限干预式协同决策
收稿日期: 2014-12-09
修回日期: 2015-03-26
网络出版日期: 2015-04-10
基金资助
国家自然科学基金(61305133);航空科学基金(2013ZC53037);中央高校基本科研业务费专项资金(3102014JCY01005)
Human/unmanned-aerial-vehicle team collaborative decision-making with limited intervention
Received date: 2014-12-09
Revised date: 2015-03-26
Online published: 2015-04-10
Supported by
National Natural Science Foundation of China (61305133);Aeronautical Science Foundation of China (2013ZC53037);The Fundamental Research Funds for the Central Universities (3102014JCY01005)
针对Leader-Follower异构型有人/无人机混合编队协同决策系统具有递阶分布式决策结构、决策信息分散以及通信约束等特点,在智能体模糊认知图(ABFCM)和动态模糊认知图(DFCM)的理论基础上,提出了一种有限干预式协同决策机制。通过构建层次化的Follower平台自主决策模型,实现了该平台与外部系统良好的交互能力,体现了自主决策的"动态性"。通过设计Leader平台的3种干预策略,满足了不同层次的决策需求,体现了干预过程的"有限性"。仿真结果表明:有限干预协同决策模型能够适应外部环境的动态变化,充分发挥Follower平台的自主决策能力;而不同层次的有限干预介入既减轻了Leader平台的控制负荷,又保证了决策的有效性和可行性,可为解决其他同类复杂系统的协同决策问题提供理论依据和方法参考。
陈军 , 张新伟 , 徐嘉 , 高晓光 . 有人/无人机混合编队有限干预式协同决策[J]. 航空学报, 2015 , 36(11) : 3652 -3665 . DOI: 10.7527/S1000-6893.2015.0085
In view of the characteristics of Leader-Follower heterogeneous multi-platform system for the human/unmanned aerial vehicle team which are hierarchical and distributed structure, decision-making information decentralization and communication constraints, the collaborative decision-making mechanism with limited intervention based on the combination of agent-based fuzzy cognitive map (ABFCM) and dynamic fuzzy cognitive map (DFCM) is presented. In the proposed approach, hierarchical autonomous decision-making model for Follower platform is developed in order to make the Follower able to interact with external environment well and reflect the autonomous decision-making dynamics. Three intervention strategies under different conditions are designed for Leader platform to meet the requirements of different decision levels. Meanwhile these strategies reflect the limitation of intervention processes. Simulation results show that intervention-limited collaborative decision-making mechanism can adapt to dynamic changes in the external environment and make full use of Follower platform's autonomous decision-making ability. Hierarchical limited interventions can reduce the control workload of Leader and ensure the effectiveness and feasibility of decision-making as well. This work also provides a theoretical basis and methodology support to solve other similar collaborative decision-making problem in complex systems.
[1] Department of Defense. Unmanned system roadmap[R]. Washington, D.C., 2007.
[2] Cai J W, Long H Y, Zhang X. Key technologies for cooperative combat system of manned/unmanned aerial vehicles[J]. Command Information System and Technology, 2013, 4(2):10-14(in Chinese).蔡俊伟,龙海英,张昕.有人机/无人机协同作战系统关键技术[J].指挥信息系统与技术, 2013, 4(2):10-14.
[3] Valenti M, Schouwenaars T, Kuwata Y, et al. Implementation of a manned vehicle-UAV mission system, AIAA-2004-5142[R]. Reston:AIAA, 2004.
[4] Schouwenaars T, Kuwata Y, Feron E, et al. Liner programming and language processing for human/unmanned aerial vehicle team missions[J]. Journal of Guidance, Control, and Dynamics, 2006, 29(2):303-313.
[5] Wu L Z, Li Y, Peng H, et al. Design and implementation of the instruction set for manned vehicle-UAV cooperation and missions[J]. Journal of System Simulation, 2008, 20(S1):514-517(in Chinese).吴立珍,李远,彭辉,等.有人机/无人机协同任务指令集的设计与实现[J].系统仿真学报, 2008, 20(S1):514-517.
[6] Peng H, Xiang X J, Wu L Z, et al. Cooperative mission control system for a manned vehicle and unmanned aerial vehicle[J]. Acta Aeronautica et Astronautica Sinica, 2008, 29(S1):136-141(in Chinese).彭辉,相晓嘉,吴立珍,等.有人机/无人机协同任务控制系统[J].航空学报, 2008, 29(S1):136-141.
[7] Chen Z J,Zhang R L,Zhang P, et al. Flight control:Challenges and opportunities[J]. Acta Automatica Sinica, 2013, 39(6):703-710(in Chinese).陈宗基,张汝麟,张平,等.飞行器控制面临的机遇与挑战[J].自动化学报, 2013, 39(6):703-710.
[8] Di B, Zhou R, Ding Q X. Distributed coordinated heterogeneous task allocation for unmanned aerial vehicles[J]. Control and Decision, 2013, 28(2):274-278(in Chinese).邸斌,周锐,丁全心.多无人机分布式协同异构任务分配[J].控制与决策, 2013, 28(2):274-278.
[9] Liu Y F, Chen S D, Zhao Z Y, et al. Command and control system general research of manned vehicle/UCAV formation air-to-ground attack[J]. Fire Control & Command Control, 2013, 38(10):1-5(in Chinese).刘跃峰,陈哨东,赵振宇,等.有人机/UCAV编队对地攻击指挥控制系统总体研究[J].火力与指挥控制, 2013, 38(10):1-5.
[10] Papageorgiou E I. Fuzzy cognitive maps for applied sciences and engineering[M]. Berlin:Springer, 2013.
[11] Papageorgiou E I, Salmeron J L. A review of fuzzy cognitive maps research during the last decade[J]. IEEE Transactions on Fuzzy Systems, 2013, 21(1):66-79.
[12] Yu J T, Qian J X. Fuzzy cognitive map based agent reasoning model[J]. Journal of Zhejiang University:Engineering Science, 2004, 38(6):697-701(in Chinese).于江涛,钱积新.基于模糊认知图的Agent推理模型[J].浙江大学学报:工学版, 2004, 38(6):697-701.
[13] Wang Y J, Wang Z L, Wang G J, et al. Research on emotion agent model based on fuzzy cognitive map[J]. Computer Engineering and Applications, 2007, 43(17):1-3(in Chinese).王玉洁,王志良,王国江,等.基于模糊认知图的情感Angent模型研究[J].计算机工程与应用, 2007, 43(17):1-3.
[14] Miao C Y, Yang Q, Fang H J, et al. A cognitive approach for agent-based personalized recommendation[J]. Knowledge-Based Systems, 2007, 20(4):397-405.
[15] Liu H L, Wu T J. A coordination model based on FCM in MAS[J]. Systems Engineering Theory and Practice, 2002, 22(2):49-54(in Chinese).刘海龙,吴铁军.基于模糊认知图的多Agent协调模型[J].系统工程理论与实践, 2002, 22(2):49-54.
[16] Zhao H, Tan T X, Zhao Z T. A decision-making algorithm research based on FCM in MAS[J]. Microelectronics &Computer, 2009, 26(3):203-206(in Chinese).赵辉,谭天晓,赵宗涛.基于模糊认知图MAS系统决策算法研究[J].微电子学与计算机, 2009, 26(3):203-206.
[17] Anninou A P, Groumpos P P, Panagiotis P. Modeling health diseases using competitive fuzzy cognitive maps[M]. Artificial Intelligence Applications and Innovations. Berlin:Springer Heidelberg, 2013:88-95.
[18] Homenda W, Jastrzebska A, Pedrycz W. Modeling time series with fuzzy cognitive maps[C]//Proceedings of 2014 IEEE International Conference on Fuzzy Systems. Piscataway, NJ:IEEE Press, 2014:2055-2062.
[19] Glykas M. Fuzzy cognitive maps:Advances in theory, methodologies, tools and applications[M]. Berlin:Springer,2010:307-324.
[20] Stula M, Stipanicev D, Bodrozic L. Intelligent modeling with agent-based fuzzy cognitive map[J]. International Journal of Intelligent System, 2010, 25(10):981-1004.
[21] Khan M S, Quaddus M. Group decision support using fuzzy cognitive maps for causal reasoning[J]. Group Decision and Negotiation, 2004, 13(5):463-480.
[22] Tsadiras A K. Comparing the inference capabilities of binary, trivalent and sigmoid fuzzy cognitive maps[J]. Information Sciences, 2008, 178(20):3880-3894.
[23] Gadallah A M, Hefny H A. Fuzzy cognitive map with dynamic fuzzification and causality behaviors[C]//Proceedings of the 7th International Conference on Informatics and Systems (INFOS2010). Piscataway, NJ:IEEE Press, 2010:99-105.
[24] Miao C Y, Angela G, Yuan M, et al. Agent that models, reasons and makes decisions[J]. Knowledge-Based Systems, 2002, 5(3):203-211.
/
〈 | 〉 |