A Hierarchical Control System for Heterogeneous Multiple UUV Cooperation Task

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.