CN111079244B - Distributed simulation platform based on behavior tree - Google Patents
Distributed simulation platform based on behavior tree Download PDFInfo
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Abstract
The invention discloses a distributed simulation platform based on a behavior tree.A model behavior is designed by a behavior tree method, so that the distributed simulation platform is visual and convenient, the model behavior can be dynamically adjusted by a visual behavior tree mode before a simulation system runs, and the simulation platform calls the model behavior according to the adjusted logic sequence, so that the model behavior can be rapidly and dynamically changed; the simulation platform comprises a model behavior design tool, a model behavior development tool, a scenario generation tool, a system operation control tool and a distributed computer adapter, wherein the five tools form a complete whole, and a user can control the whole simulation system to be used in a whole period through the five tools, so that the use efficiency of the system is greatly improved; the model used by the simulation platform is in a dynamic link library form, so that the source code of the model can be effectively protected; the used imagination file format, the model behavior description file format and the model initialization file format are all XML file formats, and the method has strong universality.
Description
Technical Field
The invention belongs to the technical field of computer simulation, and particularly relates to a distributed simulation platform based on a behavior tree.
Background
With the rapid development of computer technology, distributed simulation technology is widely used. The traditional distributed simulation platform mainly solves the interaction problem among models and does not pay attention to the behavior of the models. After the model is written, the function realization functions are fixed, and the calling sequence of the functions is also fixed. When the simulation system runs, the simulation platform calls the model functions according to a preset logic sequence, so that the behavior of the model is difficult to change after the simulation system is built, and the running flow of the model is fixed. If the simulation object changes, the source code of the model needs to be modified, and the efficiency is very low. In addition, the method is difficult to adapt to simulation in different dynamic scenes, only model input parameters can be changed during simulation in different scenes, and the working flow and behavior of the model cannot be changed, so that the operation result is the same every time, and the simulation of complex human-in-loop scenes such as a command control system is difficult.
Disclosure of Invention
In view of this, the present invention provides a distributed simulation platform based on a behavior tree, which can change the behavior of a model rapidly and dynamically.
A distributed simulation platform based on a behavior tree comprises a model behavior design tool, a model behavior development tool, a scenario generation tool, a system operation control tool and a distributed computer adapter;
the model behavior design tool is used for establishing a behavior tree of the model according to behaviors included in each type of model and logic relations among the behaviors, and generating a file sat-model-behavior.xml for describing the behavior tree of the model; the nodes in the behavior tree are divided into root nodes, combined nodes and leaf nodes; the root node is used for representing the initial behavior of the type model; the combination nodes describe logical relationships between various behaviors; the leaf nodes are divided into state nodes for describing the state of the model and action nodes for describing specific behaviors;
the model behavior development tool is used for analyzing the file sat-model-behavior.xml generated by the model behavior design tool, and identifying a root node, a combined node and a leaf node in the file sat-model-behavior.xml: for the root node, converting into a model initialization function; for each leaf node: if the leaf node is a state node, converting the leaf node into a global state parameter of the model; if the leaf node is an action node, converting the leaf node into a model behavior function; for all the combination nodes, converting the combination nodes into a model logic function which can describe respective logic relations of all the combination nodes, and generating a calling sequence of the behavior function by the logic function according to the specific position relation of each combination node in the behavior tree file; compiling to generate a model file sat-model.dll, namely a dynamic link library;
the scenario generation tool is to:
generating an interface for displaying and interacting, and constructing a simulation scene in the interface;
providing a list of all model files X-model.dll generated by a model behavior development tool, displaying the list on the interface in a list form for a user to select, and dragging the model to a simulation scene by the user to generate an instance of the model;
displaying a model instance selected by a user in the simulation scene; providing a window for configuring the initial parameters of each selected model for a user, storing the initial parameters of the model instance as a model instance initialization file after the initial parameters of the model instance are configured and modified in the window by the user, and displaying the obtained model instance in the interface;
providing a window for setting the running position IP of the model instance by a user;
xml, finally generating a scenario file screen;
the system operation control tool is used for reading a planned file screen.xml, analyzing all models and model operation position IPs contained in the planned file, and respectively sending the model dynamic link library, the model instance initialization file and the planned file screen.xml to each operation machine according to the pairing relation between the models and the addresses;
after receiving the model dynamic link library, the model initialization file and the scenario file screen.xml, the distributed computer adapter configured on each running machine stores the received data to the local; then analyzing the planned file, selecting a model instance and related resources to be operated in the local machine, checking the local machine resources, and if all the resources are complete, sending a message of successful operation preparation to a system operation control tool;
and after receiving the successful operation preparation information of all the distributed computer adapters in the network, the system operation control tool starts the simulation operation of the model, and sends simulation time synchronization signals to all the model instances until the simulation operation is finished.
Preferably, different graphical symbols are used to represent different node types when building the model behavior tree.
Preferably, the model behavior design tool establishes the model behavior tree based on a workflow description diagram of a model, specifically:
converting the model starting node into a root node of the model behavior tree;
the diamond judgment node is converted into a selection node in the combined node;
for each action node of the workflow description graph, converting the action node into a sub-tree consisting of three nodes, namely a sequence node, a state node and an action node in a combined node, wherein the sequence node is arranged at the top, and the state node and the action node are respectively a left branch and a right branch of the sequence node; that is, the decision logic of the diamond decision node is represented by a state node.
Preferably, the simulation scene is implemented by a GIS two-dimensional digital map, and the user is allowed to drag the corresponding behavior tree to a corresponding position on the two-dimensional digital map according to the actual position of the model.
Further, an operation control button is further arranged on an interface generated by the scenario generation tool, so that the selection of an operation mode is provided for a user, and the operation mode is compiled into a scenario file (xml); the system operation control tool controls a model to perform simulation operation according to an operation mode set in a planned file screen.xml; the operation modes comprise real-time operation, full-speed operation and adjustable speed multiplication operation.
The invention has the following beneficial effects:
(1) The method designs the model behaviors by a behavior tree method, is visual and convenient, the model behaviors can be dynamically adjusted by a visual behavior tree mode before the simulation system runs, and the simulation platform calls the model behaviors according to the adjusted logic sequence, so that the model behaviors can be rapidly and dynamically changed;
(2) The simulation platform comprises a model behavior design tool, a model behavior development tool, a scenario generation tool, a system operation control tool and a distributed computer adapter, wherein the five tools form a complete whole, and a user can control the whole simulation system to be used in a whole period through the five tools, so that the use efficiency of the system is greatly improved;
(3) The model used by the simulation platform is in a dynamic link library form, so that the source code of the model can be effectively protected;
(4) The proposed file format, the model behavior description file format and the model initialization file format used by the simulation platform are all XML file formats, and the method has strong universality.
Drawings
FIG. 1 is a block diagram of the present invention, wherein M represents the total number of compute nodes and N represents the maximum number of run model instances per compute node;
FIG. 2 is a diagram illustrating a real workflow of a model (taking a workflow of an infrared early warning satellite model as an example);
FIG. 3 is a diagram of the implementation of the model behavior design tool of the present invention (taking the behavior design of a certain infrared early warning satellite model as an example);
FIG. 4 is a model behavior development tool implementation of the present invention;
FIG. 5 is a diagram of a scenario generation tool implementation of the present invention;
FIG. 6 is a diagram of a system operation control implementation of the present invention;
FIG. 7 is a diagram of a distributed computer adapter implementation of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
As shown in FIG. 1, the simulation tools required to be established by the present invention include a model behavior design tool, a model behavior development tool, a scenario generation tool, a system operation control tool, and a distributed computer adapter. The whole system takes the DDS middleware as a bottom layer supporting technology to complete the interactive function of the running process of the whole system. The system operation control tool and the distributed computer adapter tool jointly complete the operation function of the simulation system. The system operation control tool is responsible for the functions of the distribution of the whole simulation operation resource, the sending of a control command, the time synchronization of the operation process and the like. The distributed computer adapters can be distributed to different machines in the network for operation, and each computer needing to operate the model instance must start one distributed computer adapter to wait for an operation control command sent by a system operation control tool. And after receiving the simulation operation control command, the system operation control tool automatically starts the model instance on the machine. The model behavior design tool, the model behavior development tool and the scenario generation tool are offline tools, do not participate in online operation of the simulation system, and only need to generate the model behaviors, the model dynamic link library and the scenario files by using the tools before the system operates.
Fig. 2 is a description diagram of a real work flow of a certain model in a simulation cycle (taking a work flow of a certain infrared early warning satellite model as an example). After a certain infrared early warning satellite starts working, whether a found target exists or not is judged firstly, and if not, a target scanning action is executed. If the found target exists, the target is judged to be true or false, and if the found target exists, the target discarding action is executed. And if the target is a true target, executing the gaze target action.
Corresponding to a certain infrared early warning satellite model in fig. 2, an implementation manner of the model behavior design tool in the present invention is shown in fig. 3. The model behavior design tool designs behaviors for each type of model through a graphical modeling method to form a model behavior tree, and outputs a model behavior description file sat-model-behavior. The nodes in the model behavior design tool are divided into three types, namely root nodes (represented by triangle graphs), combined nodes (represented by square graphs) and leaf nodes (represented by oval graphs and rectangle graphs). Wherein, the root node is the beginning of the behavior, the combination node describes the logical relationship among various behaviors, and the leaf node describes the state and the specific behavior of the model. Each type of model has only one root node. The composite nodes include two types: sequential nodes (represented by → graph), select nodes (represented by. The sequence node is used for sequentially executing each child node, and the whole branch returns failure as long as one child node returns failure. The selection node is used to sequentially execute its child nodes, and as long as one of its child nodes returns a success, the entire branch returns a success. Leaf nodes are divided into two categories: state nodes (represented by ellipses), action nodes (represented by rectangles). The state nodes represent certain states of the current model, such as whether targets are found, and the action nodes represent certain behavioral actions of the model, such as actions of scanning targets.
The rules for converting a real workflow description graph of a model into a model behavior tree in a simulation cycle include:
1) Converting a starting node of the workflow description graph into a root node of the model behavior tree;
2) The diamond-shaped judgment nodes are converted into selection nodes in the combination nodes, and the output of the diamond-shaped judgment nodes is executed in parallel;
3) For each action node of the workflow description graph, converting the action node into a subtree consisting of three nodes, namely a sequence node, a state node and an action node in a combined node, wherein the sequence node is arranged at the top, and the state node and the action node are respectively a left branch and a right branch of the sequence node; that is, the decision logic of the diamond decision node is represented by a state node.
Taking fig. 2 as an example, the infrared early warning satellite start working node (fig. 2 position 1) of fig. 2 is converted into the infrared early warning satellite model behavior node (fig. 3 position 1) of fig. 3 according to rule 1). Whether fig. 2 finds a target node according to rule 2) is converted into the select node of fig. 3 (fig. 3 position 2). Scan target worker node of fig. 2 follows rule 3) to the sequence node, state node, and action node of fig. 3 (fig. 3, position 4, and position 5). Fig. 2 judges that the target true and false nodes are converted into the selected nodes of fig. 3 (fig. 3 position 6) according to rule 2). Gaze target worker node of fig. 2 follows rule 3) to the sequence node, state node, behavior node of fig. 3 (fig. 3 position 7, position 8, position 9). The drop target worker node of fig. 2 follows rule 3) to the sequence node, state node, behavior node (fig. 3 position 10, position 11, position 12) of fig. 3.
Taking fig. 3 as an example of the operation process of the model behavior tree, after the infrared early warning satellite model starts to operate, the position 2 is executed first, if the node is found to be a selected node, the position 3 is executed first, and whether the position 6 is executed or not is judged according to the operation result of the position 3. And if the position 3 is a parallel node, sequentially executing the position 4 and the position 5, if the position 4 judges that the target is not successful, continuously executing the position 5, scanning the target according to the position 5 to determine a return result, and if the position 5 scans the target successfully, returning to the position 3 to be successful. After the position 2 judges that the position 3 is successful, the position 6 code is not executed any more, and the whole period of operation is finished. If the position 4 judges that no target fails, the failure result is returned to the position 3, and the execution is continued from the position 6 after the position 2 is judged. The process is performed similarly at positions 7 and 8.
The model behavior development tool implementation in the present invention is shown in FIG. 4. The model editing environment used by the model behavior development tool is visual studio 2015, and the source code is in a C + + language form. The model behavior development tool analyzes a model behavior description file sat-model-behavior.xml generated by the model behavior design tool, and divides all nodes into three types, namely a root node, a combined node and a leaf node. For the root node, the root node is converted into an initialization function (initialization function) in the model source code, and a user can add a model initialization related function in the initialization function, such as reading the content of a model initialization file, assigning initial values to initial parameters of the model, and the like, wherein only one initialization function of one model is provided. For the combined node, the combined node is converted into a logic function (logic function) of the model, the logic function mainly describes the action logic of the model, a user writes model logic processing related functions in the logic function, and only one logic function of one model is needed. For a leaf node, if the leaf node is a state node, the leaf node is converted into a global state parameter of the model. If the leaf node is an action node, the leaf node is converted into a behavior function (action function) of the model, and the user adds a function related to model behavior processing to the behavior function of each model. After all functions are completed, the environment is edited and compiled by using visual studio 2015 to generate a model sat-model.
A scenario generation tool implementation of the present invention is shown in fig. 5. It is contemplated that the generation tool interface is divided into three parts. And the left side is a tree model library list, all model files generated by the model behavior development tool are read from the file directory and are displayed in the form of a model tree. The middle part is a planned editing and displaying part based on a GIS two-dimensional digital map, a user can drag a model from a model tree to the two-dimensional digital map to generate a model example, and the position (longitude, latitude and height) of the model example corresponds to the position of the two-dimensional digital map. Double clicking the icon of model example can display the initial parameters of the model example and modify the parameters. The rightmost side is the generated imaginary model tree where all model instances that have currently been dragged to the two-dimensional digital map are displayed in the form of a tree of model instances. After the model instance tree is generated, the operation position IP of each model is set on the model instance tree by right-clicking each model, and the operation position IP is given in a selectable pull-down menu form. Clicking an operation setting button, selecting an operation mode (real-time operation, full-speed operation and adjustable speed operation), and saving the operation mode as a planned file screen.
The system operation control tool implementation in the invention is shown in fig. 6. Xml, the system operation control tool reads the scenario file, analyzes all models and model operation addresses contained in the scenario, respectively sends the model dynamic link library, the model initialization file and the scenario file to each operation machine according to the pairing relation between the models and the addresses, and then waits for handshake signals of each operation machine. After receiving the three files of the model dynamic link library, the model initialization file and the scenario file, the distributed computer adapters on the running machines store the files locally, analyze the scenario file, select a model instance and related resources to be run on the machine from the scenario file, check the resources of the machine, and send a message of successful running preparation to a system running control tool if all the resources are complete. After receiving successful operation preparation messages of all distributed computer adapters in the network, the system operation control tool starts the operation according to a preset operation mode, and sends simulation time synchronization signals to all model examples until the simulation operation is finished.
A distributed computer adapter implementation of the present invention is shown in fig. 7. The distributed computer adapter receives the three files of the model dynamic link library, the model initialization file and the scenario file sent by the system operation control tool, stores the files to the local, analyzes the scenario file, selects a model instance and related resources to be operated in the local, checks the resources of the local, and sends a message of successful operation preparation to the system operation control tool if all the resources are complete. And if the resources are not complete, sending a preparation operation failure message to the system operation control tool. And after receiving a simulation starting operation command sent by the system operation control tool, calling all model instances operated in the machine under the unified clock scheduling of the system operation control tool until all model instances are operated.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A distributed simulation platform based on a behavior tree is characterized by comprising a model behavior design tool, a model behavior development tool, a scenario generation tool, a system operation control tool and a distributed computer adapter;
the model behavior design tool is used for establishing a behavior tree of the model according to behaviors included in each type of model and logic relations among the behaviors, and generating a file sat-model-behavior.xml for describing the behavior tree of the model; the nodes in the behavior tree are divided into root nodes, combined nodes and leaf nodes; the root node is used for representing the initial behavior of the type model; the composition node describes a logical relationship between various behaviors; the leaf nodes are divided into state nodes for describing the states of the model and action nodes for describing specific behaviors;
the model behavior development tool is used for analyzing the file sat-model-behavior.xml generated by the model behavior design tool, and identifying a root node, a combined node and a leaf node in the file sat-model-behavior.xml: for the root node, converting into a model initialization function; for each leaf node: if the leaf node is a state node, converting the leaf node into a global state parameter of the model; if the leaf node is an action node, converting the leaf node into a model behavior function; for all the combination nodes, converting the combination nodes into a model logic function capable of describing respective logic relations of all the combination nodes, and generating a calling sequence of the behavior function by the logic function according to the specific position relations of the combination nodes in the behavior tree file; compiling to generate a model file sat-model.dll, namely a dynamic link library;
the scenario generation tool is to:
generating an interface for displaying and interacting, and constructing a simulation scene in the interface;
providing a list of all model files X-model.dll generated by a model behavior development tool, displaying the list on the interface in a list form for a user to select, and dragging the model to a simulation scene by the user to generate an instance of the model;
displaying a model instance selected by a user in the simulation scene; providing a window for configuring the initial parameters of each selected model for a user, storing the initial parameters of the model instance as a model instance initialization file after the initial parameters of the model instance are configured and modified in the window by the user, and displaying the obtained model instance in the interface;
providing a window for setting the running position IP of the model instance by a user;
xml, finally generating a scenario file screen;
the system operation control tool is used for reading a scenario file screen.xml, analyzing all models and model operation positions IP contained in the scenario file, and respectively sending a model dynamic link library, a model instance initialization file and the scenario file screen.xml to each operation machine according to the pairing relation between the models and addresses;
after receiving the model dynamic link library, the model initialization file and the scenario file screen.xml, the distributed computer adapter configured on each running machine stores the received data to the local; then analyzing the planned file, selecting a model instance and related resources to be operated in the local machine, checking the local machine resources, and if all the resources are complete, sending a message of successful operation preparation to a system operation control tool;
and after receiving successful operation preparation messages of all distributed computer adapters in the network, the system operation control tool starts the simulation operation of the model, and sends simulation time synchronization signals to all model instances until the simulation operation is finished.
2. The behavior tree based distributed simulation platform of claim 1, wherein different graphical symbols are used to represent different node types when building the model behavior tree.
3. The behavior tree-based distributed simulation platform of claim 1, wherein the model behavior design tool builds the model behavior tree based on a model workflow description diagram, specifically:
converting the model start node into a root node of a model behavior tree;
the diamond judgment node is converted into a selection node in the combined node;
for each action node of the workflow description graph, converting the action node into a subtree consisting of three nodes, namely a sequence node, a state node and an action node in a combined node, wherein the sequence node is arranged at the top, and the state node and the action node are respectively a left branch and a right branch of the sequence node; that is, the decision logic of the diamond decision node is represented by a state node.
4. The distributed simulation platform based on the behavior tree as claimed in claim 1, wherein the simulation scene is implemented by using a GIS two-dimensional digital map, and allows a user to drag the corresponding behavior tree to a corresponding position on the two-dimensional digital map according to an actual position of the model.
5. The behavior tree-based distributed simulation platform of claim 1, wherein the interface generated by the scenario generation tool is further provided with an operation control button, which provides a user with a selection of an operation mode, and compiles the operation mode into a scenario file (xml); the system operation control tool controls a model to perform simulation operation according to an operation mode set in a planned file screen.xml; the operation modes comprise real-time operation, full-speed operation and adjustable speed multiplication operation.
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| WO2023004805A1 (en) * | 2021-07-30 | 2023-02-02 | 西门子股份公司 | Workflow modeling implementation system and method, and storage medium |
| CN114201885B (en) * | 2021-12-16 | 2022-08-16 | 航天物联网技术有限公司 | Improved behavior tree-based military force entity behavior simulation element modeling method and system |
| WO2023142075A1 (en) * | 2022-01-29 | 2023-08-03 | 西门子股份公司 | Workflow creation method and apparatus, platform and computer readable medium |
| WO2023164822A1 (en) * | 2022-03-02 | 2023-09-07 | 西门子股份公司 | Dynamic workflow implementation method and system, medium, and program product |
| CN115454587A (en) * | 2022-07-25 | 2022-12-09 | 中国人民解放军军事科学院国防科技创新研究院 | Intelligent satellite autonomous task management architecture and method |
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