A Hierarchical Control System for Heterogeneous Multiple UUV Cooperation Task
XU Zhen-zhen1,2, LI Yi-ping1,2, FENG Xi-sheng1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
Abstract：For cooperation task of heterogeneous multiple unmanned underwater vehicles(UUVs),a MAS(multi-agent system) based hierarchical architecture(MAHA) is presented.On the individual level,the mental state of UUV agent is divided into social mental state and personal mental state which are implemented respectively,agreeing much more with the cooperation mode of human society.On the colonial level,evaluation criterions for UUV colony architecture in complex undersea environment are given to compare MAHA with the existing UUV colony architectures.In addition,cooperation model of the system is established with the help of object-oriented Petri net,which effectively decreases the complexity of system modelling.At last,an undersea multi-target searching mission is presented as an example to show the effectiveness of cooperation among heterogeneous UUVs under MAHA.
[1] 许真珍,封锡盛.多UUV协作系统的研究现状与发展[J].机器人,2007,29(2):186-192.
[2] Healey A J.Application of formation control for multi-vehicle robotic minesweeping[A].Proceedings of the 40th IEEE Conference on Decision and Control[C].Piscataway,USA:IEEE,2001.1497-1502.
[3] Gage D W.Many-robot MCM search systems[DB/OL].http://www.nosc.mil/robots/pubs/npsmcm95.pdf,2007.
[4] Schulz B,Hobson B,Kemp M,et al.Field results of multi-UUV missions using ranger micro-UUVS[A].IEEE Oceans Conference Record[C].Piscataway,USA:IEEE,2003.956-961.
[5] Rooney C F B,O′Donoghue R P S,Duffy B R,et al.The Social Robot Architecture:Towards Sociality in a Real World Domain[R].Manchester,UK:Manchester University,1999.
[6] 刘海波,顾国昌,沈晶.基于Agent面向群体合作的AUV体系结构[J].机器人,2005,27(1):1-5.
[7] 谭民,王硕,曹志强.多机器人系统[M].北京:清华大学出版社,2005.
[8] 江志斌.Petri网及其在制造系统建模与控制中的应用[M].北京:机械工业出版社,2004.
