CN104076800A - UUV group task coordination system and method - Google Patents

Abstract

The invention discloses a UUV group task coordination system and method. The system comprises a sensor module, an overall situation module, a task coordination module and an UUV executor. The sensor module is used for collecting environment information and UUV self-state information and receiving information sent by other UUVs. The overall situation module comprises an updating unit, a UUV describing unit and a task describing unit. The UUV describing unit updates UUV states, and the task describing unit updates task states. The task coordination module comprises an unforeseen circumstance and conflict unit, a dynamic task planning unit, a task allocation unit, an assembly maintenance unit and execution unit and is used for task coordination and allocation. The UUV group task coordination system and method are distributed, efficient and stable.

Description

Unmanned submarine navigation device colony task coordinate system and method

Technical field

The invention belongs to unmanned submarine navigation device field, relate in particular to a kind of unmanned submarine navigation device colony task coordinate system and method.

Background technology

Unmanned submarine navigation device (UUV) comes across the sixties in 20th century the earliest.Be mainly used at first carrying out the civil areas such as deep-water exploration, raising of a wreck, underwater cable laying and maintenance.

Unmanned submarine navigation device colony (UUVs) refers to the colony being made up of multiple unmanned submarine navigation devices, and the each individuality in colony completes specific job task jointly by cooperation each other.UUVs can be competent at the task that single UUV cannot complete.Different Individual in UUVs can be carried different detecting devicess, thereby collects how dissimilar detection data, provides more perfect support for completing the task of comprising dissimilar subtask.Secondly, the one group of miniaturization, the low cost UUVs that carry low precision detecting devices rely on the advantage in its space distribution, can be than carrying high precision but the single UUV of very expensive detecting devices finish the work more efficiently.Again, due to the redundancy properties that UUVs self exists, make the inefficacy of single UUV not affect whole task and implement normally, the reliability that the task that ensured completes.Therefore UUVs relies on its structural characteristic, can increase work efficiency to a great extent and ensure completing of task.Along with the continuous progress of technology, the research of UUVs is paid attention to by various countries gradually, and the task coordinate important component part of UUVs research field especially between UUV, by the task coordinate between UUV, can not only bring into play the maximum efficiency of individual UUV, also can ensure that task efficiently, complete smoothly.The research of this technology has positive theory significance and practical value for improving the intelligent level of UUVs and accelerating it in the application of association area.

The AUTONOMOUS TASK under water of UUV has more challenge than the AUTONOMOUS TASK of unmanned plane and unmanned vehicle to a certain extent.Especially communicate by letter under water in limited situation, so the Collaborative Control between UUV is more difficult.In traditional control mode, generally to use a central planner to assign the task to each UUV in the task starting stage, but in the time occurring due to failed during the tasks carrying due to external environment or UUV self-condition, this initiating task allocation scheme just becomes unavailable.Therefore, variation extraneous and oneself state is restricting the validity of this task allocation scheme.The weight-normality that the current task coordinate mechanism based on market mechanism can not well be carried out task term of execution of task is in addition drawn, the coordination of UUV in heavily decomposition of task, reschedule and tasks carrying, and for single, planning still exists efficiency low, the problem of poor robustness.

Summary of the invention

The object of this invention is to provide a kind of efficient, stablely and can respond fast to unpredictable situation the unmanned submarine navigation device colony task coordinate system of processing, object of the present invention also comprises provides a kind of unmanned submarine navigation device colony task coordination method that can dynamically realize real-time task planning.

The present invention is achieved by the following technical solutions:

Unmanned submarine navigation device colony task coordinate system, comprises sensor assembly, global state module, task coordinate module and UUV actuator,

Sensor assembly is for gathering environmental information, UUV oneself state information and receiving the information that other UUV send;

Global state module comprises updating block, UUV description unit, task description unit, updating block gathers environmental information, UUV oneself state information and receives the information that other UUV send for analyzing, UUV description unit carries out the renewal of UUV state, and task description unit carries out the renewal of task status;

Task coordinate module comprises unpredictable situation and conflict unit, dynamic task planning unit, task allocation unit, assembly maintenance unit, performance element, unpredictable situation and conflict unit carry out detection and the processing of unpredictable situation and conflict situations, in the time there is unpredictable situation and conflict situations, the information that broadcast detects is also used preset measure to process; Subtask is planned and divided to dynamic task planning unit again to all not finishing the work; Task allocation unit is selected candidate's task from subtask, to the auction of candidate's tasks carrying, sends auction information subtask is distributed according to other UUV to task allocation unit; Assembly maintenance unit is for the renewal to assembly member; Performance element drives UUV actuator operation task.

The unmanned submarine navigation device of the present invention colony task coordination method, sensor assembly gathers environmental information, UUV oneself state information and receives the information that other UUV send, and sends updating block to;

After the information that updating block analysis receives, send result to UUV description unit and task description unit;

UUV description unit carries out the renewal of UUV state according to the information receiving, and sends respectively the UUV status information after upgrading to dynamic task planning unit, unpredictable situation and conflict unit;

Task description unit carries out the renewal of task status according to the information receiving, and sends respectively the task status information after upgrading to dynamic task planning unit, unpredictable situation and conflict unit;

Unpredictable situation and conflict unit receive the information that UUV status information, task status information and other UUV send, carry out the detection of unpredictable situation and conflict, in the time unpredictable situation and conflict being detected, broadcast warning message is also used preset preventive measure to process;

Dynamic task planning unit, according to the UUV status information, the task status information that receive, by building the Priority Queues planning of executing the task of not finishing the work, and is divided subtask, sends result to task allocation unit;

Task allocation unit is selected candidate's task from subtask, use the auction mechanism based on contract net to auction candidate's tasks carrying, sending auction information according to other UUV to task allocation unit distributes subtask, send result to assembly maintenance unit, and broadcast task is distributed;

Assembly maintenance unit upgrades the assembly member who executes the task according to subtask assignment information;

Performance element, according to the task-driven UUV actuator operation task obtaining, is broadcasted tasks carrying information.

The unmanned submarine navigation device of the present invention colony task coordination method, can also comprise:

1, the UUV status information of UUV description unit output is:

<u_id,u_cap,u_relinfo,u_stat>

Wherein u_id represents UUV unique identification, and u_cap represents the ability of UUV, and u_relinfo represents other relevant information of UUV, and u_stat represents the current state of UUV, has respectively:

<idle,excuting,failed,auctionning>

Idle represents idle condition, and excuting represents to execute the task, and failed represents that mission failure, auctionning represent to auction.

2, the task status information of task description unit output is:

<t_id,t_reqcap,t_reqno,t_relinfo,t_stat>

Wherein t_id represents task unique identification, and t_reqcap represents to carry out this required by task ability, and t_reqno represents to carry out the minimum UUV quantity of these task needs, and t_relinfo represents the relevant information of task, and t_stat represents the current state of task, has respectively:

<unachieved,auctioned,being_excuted,achieved,uncertain>

Unachieved represents that task does not complete that auction, auctioned have represented to auction, being_excuted represents to carry out, achieved represents to complete, uncertain represents that state is uncertain.

3, the predefined preventive measure in unpredictable situation and conflict unit are:

A, in the time the information of unknown UUV being detected, set up and communicate by letter with unknown UUV, collect the information of unknown UUV in UUV description unit renewal UUV status information,

B, in the time unknown mission bit stream being detected, collect unknown mission bit stream and upgrade task status information at task description unit, and join and do not finish the work in queue,

C, in the time detecting that state that having completed of a task with new task, is being carried out or auctioned is again published, send warning message to the UUV that issues this task,

D, in the time detecting that the UUV executing the task receives the cancellation information of current task, cancel the execution of task, upgrade oneself state at UUV description unit.

The order of the priority of task queue that 4, dynamic task planning unit builds is to task point w according to UUV _irelative distance relDist (u _j, w _i) sequence from low to high, current UUV is by u _jrepresent, UUV to the relative distance of task point is:

$\mathrm{relDist}\left(u_j{,w}_i\right)=\mathrm{dist}(u_j,w_i)-\underset{\&ForAll;k\&NotEqual;j}{\min }\left(\mathrm{dist}(u_k,w_i)\right)$

Wherein dist (u _j, w _i) expression UUV, u _jto task point w _ieuclidean distance, represent all except u _jother outer UUV is to task point w _idistance minimum value, and according to relDist (u _j, w _i) tasks carrying region is divided into subregion by value, namely task M is divided into n subtask M ₁, M ₂..., M _i..., M _n, wherein n is the quantity of carrying out the UUV of this task.

5, in task allocation unit, other UUV send to task allocation unit the cost that auction information is this UUV execution auction task, and current UUV carries out subtasking W _jcost C _jjfor:

$C_{\mathrm{jj}}=\underset{i=1}{\overset{q}{\mathrm{\&Sigma;}}}{c}_{\mathrm{ji}}$

Wherein q is subtask W _jin contain task point number, and u _ja w executes the task _icost c _jifor:

c _ji＝α*dist(u _j,w _i)+(1-α)*[dist(w _f1,w _f2)-max(dist(w _i,w _f1),dist(w _i,w _f2))]

dist(w _f1,w _f2)＝max(dist(w _i,w _j)),w _i,w _j∈M _j

Wherein w _f1and w _f2for subtask W _jin at a distance of two task points farthest, constant α is as adjusting the factor;

Other UUV subtaskings W _jcost be Ck _jif, C _kjbe less than C _jj, so current UUV assigns the task to other UUV, and other UUV are by u _krepresent, otherwise current UUV subtasking W _j, the condition satisfied for other UUV is:

Wherein p is UUV sum.

Beneficial effect of the present invention:

Unmanned submarine navigation device of the present invention colony task coordinate system and method, dynamically realize the distribution of real-time task and heavily distribute, the planning of executing the task, unpredictalbe situations such as responding communication inefficacy fast, delay and UUV fault, and process the normal execution of recovery tasks according to the preventive measure that are embedded in system.Under the limited marine environment of communication, still can show good performance.The present invention is distributed, efficient, a stable how unmanned submarine navigation device task coordinate System and method for.

Brief description of the drawings

Fig. 1 is unmanned submarine navigation device of the present invention colony task coordinate system chart.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in further details.

Unmanned submarine navigation device provided by the invention colony task coordinate system mainly comprises global state module and task coordinate module, as shown in Figure 1.

Global state module comprises updating block, UUV description unit, task description unit, is responsible for description and the renewal of the global informations such as current task executing state, all UUV states; Updating block receives the information of broadcast and external information, real-time update UUV description unit and the task description unit of the collection of self-sensor device of other aircraft.

Task coordinate module comprises unpredictable situation and conflict unit, dynamic task planning unit, task allocation unit, assembly maintenance unit and performance element; Detection and the processing of unpredictable situation and conflict situations carried out in unpredictable situation and conflict unit, and in the time there is this type of situation, the information that broadcast detects is also used predefined measure to process; After global state is updated, subtask is planned and divided to dynamic task planning unit again to all execution of not finishing the work; Task allocation unit is carried out auction to new subtask, obtains the task of required execution after each UUV auction; Some subtasks may need many UUV with mode executed in parallel in groups, and assembly maintenance unit is responsible for structure and the maintenance of assembly; Performance element drives the task after UUV actuator Execution plan.

Unmanned submarine navigation device of the present invention colony task coordination method is further described:

(1) UUV gathers environmental information by sensor assembly and receives the information of other UUV transmission as the input of updating block.

(2) updating block is analyzed input message and is upgraded UUV description unit and task description unit.

(3) UUV description unit receives and comes from the information of updating block and upgrade, make the state description of UUV along with the execution of task remains last state, and the output of unit is as the input of unpredictable situation and conflict unit and dynamic task planning unit;

The state description of UUV is represented by following data structure:

<u_id,u_cap,u_relinfo,u_stat>

Wherein u_id represents UUV unique identification; U_cap represents the ability of UUV, as the sensor kind of carrying etc.; U_relinfo represents other relevant information of UUV; U_stat represents the current state of UUV, has respectively:

<idle,excuting,failed,auctionning>

Represent respectively idle condition, execute the task, mission failure, auction.U_stat constantly changes and keeps last state in UUV executes the task.

(4) task description unit receives and comes from the information of updating block and upgrade, make the state description of task along with the execution of task remains up-to-date, and the output of unit is as the input of unpredictable situation and conflict unit and dynamic task planning unit;

Task is described by the data structure that comprises tasks carrying demand and task status, as follows:

<t_id,t_reqcap,t_reqno,t_relinfo,t_stat>

Wherein t_id represents task unique identification, before tasks carrying, produces; T_reqcap represents to carry out this required by task ability, as UUV need carry specific sensor; T_reqno represents to carry out the minimum UUV quantity of these task needs; T_relinfo represents the relevant information of task; T_stat represents the current state of task, has respectively:

<unachieved,auctioned,being_excuted,achieved,uncertain>

Represent respectively task do not complete auction, do not complete auction, carry out, complete, state is uncertain.T_stat, along with the execution of task is constantly updated, remains last state.

(5) unpredictable situation and conflict unit receive the information that comes from UUV description unit, task description unit and extraneous input, in the time unpredictable situation and collision scenario being detected, broadcast warning message is also used predefined preventive measure to process.

First, for two aspects of the information of transmitting between the UUV executing the task and UUV, carry out the detection of unpredictable situation and conflict, in the time this type of situation being detected, broadcast warning message is also used preventive measure to process, and lists several situations and corresponding processing mode below:

1. in the time the information of unknown aircraft being detected, set up and communicate by letter with unknown aircraft, collection relevant information is set up UUV and is described and join in UUV set U;

2. in the time unknown mission bit stream being detected, collection mission bit stream is set up task description and is joined and do not finish the work in queue;

3. in the time detecting that state that having completed of a task with new task, is being carried out or auctioned is again published, send warning message to the UUV releasing news;

4. in the time detecting that the UUV that carries out a certain task receives " cancellation " information of this task, cancel the execution of task and also upgrade oneself state.

In order to ensure detection and the processing to unpredictable situation and conflict, UUV need bear other some responsibilities:

1. when UUV finds new online task, broadcast mission bit stream;

2. the cost value that UUV executes the task with the periodic broadcasting of being scheduled in tasks carrying and the task deadline of estimation, to show that UUV is in tasks carrying and this task is performed;

3. in the time that tasks carrying is complete, broadcast " completing " information of this task;

4. when tasks carrying is cancelled " cancellation " information of broadcasting this task;

5. in the time detecting that task is invalid, broadcast the engineering noise information of this task.

(6) when UUV description unit and task description element state change, while being global state generation renewal, dynamic task planning unit is by building the Priority Queues planning of executing the task of not finishing the work, and wherein the task in Priority Queues is sequentially according to this UUV (u _j) to task point (w _i) relative distance (relDist (u _j, w _i)) sequence from low to high, if relative distance is identically considered current carrying out of the task of UUV, task and the uncompleted task dispatching situation of auctioning sort, wherein UUV (u _j) to task point (w _i) relative distance determined by following formula:

$\mathrm{relDist}\left(u_j{,w}_i\right)=\mathrm{dist}(u_j,w_i)-\underset{\&ForAll;k\&NotEqual;j}{\min }\left(\mathrm{dist}(u_k,w_i)\right)$

Wherein dist (u _j, w _i) expression UUV (u _j) to task point (w _i) Euclidean distance, represent all except u _jother outer UUV is to task point w _idistance minimum value, and according to relDist (u _j, w _i) tasks carrying region is divided into subregion by value, namely task M is divided into n subtask M ₁, M ₂..., M _i..., M _n, wherein n is the quantity of carrying out the UUV of this generic task.

(7) task allocation unit is selected suitable candidate's task from the subtask of dynamic mission planning dividing elements, uses the auction mechanism based on contract net to auction candidate's tasks carrying, and other UUV sends and carries out this auction to auctioneer as bidder

The cost of task is as bid amounts, wherein UUV (u _j) subtasking W _jcost C _jjfor:

$C_{\mathrm{jj}}=\underset{i=1}{\overset{q}{\mathrm{\&Sigma;}}}{c}_{\mathrm{ji}}$

Wherein q is subtask W _jin contain task point number, and u _ja w executes the task _icost c _jicalculated by following formula:

c _ji＝α*dist(u _j,w _i)+(1-α)*[dist(w _f1,w _f2)-max(dist(w _i,w _f1),dist(w _i,w _f2))]

dist(w _f1,w _f2)＝max(dist(w _i,w _j)),w _i,w _j∈M _j

Wherein w _f1and w _f2for subtask W _jin at a distance of two task points farthest, constant α is as adjusting the factor, if u _kcarry out this subtask W _jcost C _kjbe less than C _jj, auctioneer u so _jassign the task to u _k, otherwise by u _ksubtasking W _j, above-mentioned u _kdrawn by following formula:

Wherein p is UUV sum, and after task is assigned, broadcasts task allocation information;

(8) after auction is consulted, if former assembly member changes, processed by assembly maintenance unit, build new assembly;

(9) last performance element drives UUV actuator to carry out the task that by inch of candle negotiation obtains, and continues by updating block real-time update global state, returns to step (1).

Claims (7)

1. unmanned submarine navigation device colony task coordinate system, is characterized in that: comprise sensor assembly, global state module, appoint

Business Coordination module and UUV actuator,

Sensor assembly is for gathering environmental information, UUV oneself state information and receiving the information that other UUV send;

Global state module comprises updating block, UUV description unit, task description unit, updating block gathers environmental information, UUV oneself state information and receives the information that other UUV send for analyzing, UUV description unit carries out the renewal of UUV state, and task description unit carries out the renewal of task status;

Task coordinate module comprises unpredictable situation and conflict unit, dynamic task planning unit, task allocation unit, assembly maintenance unit, performance element, unpredictable situation and conflict unit carry out detection and the processing of unpredictable situation and conflict situations, in the time there is unpredictable situation and conflict situations, the information that broadcast detects is also used preset measure to process; Subtask is planned and divided to dynamic task planning unit again to all not finishing the work; Task allocation unit is selected candidate's task from subtask, to the auction of candidate's tasks carrying, sends auction information subtask is distributed according to other UUV to task allocation unit; Assembly maintenance unit is for the renewal to assembly member; Performance element drives UUV actuator operation task.

2. the task coordination method based on unmanned submarine navigation device claimed in claim 1 colony task coordinate system, is characterized in that:

Sensor assembly gathers environmental information, UUV oneself state information and receives the information that other UUV send, and sends updating block to;

After the information that updating block analysis receives, send result to UUV description unit and task description unit;

UUV description unit carries out the renewal of UUV state according to the information receiving, and sends respectively the UUV status information after upgrading to dynamic task planning unit, unpredictable situation and conflict unit;

Task description unit carries out the renewal of task status according to the information receiving, and sends respectively the task status information after upgrading to dynamic task planning unit, unpredictable situation and conflict unit;

Unpredictable situation and conflict unit receive the information that UUV status information, task status information and other UUV send, carry out the detection of unpredictable situation and conflict, in the time unpredictable situation and conflict being detected, broadcast warning message is also used preset preventive measure to process;

Dynamic task planning unit, according to the UUV status information, the task status information that receive, by building the Priority Queues planning of executing the task of not finishing the work, and is divided subtask, sends result to task allocation unit;

Task allocation unit is selected candidate's task from subtask, use the auction mechanism based on contract net to auction candidate's tasks carrying, sending auction information according to other UUV to task allocation unit distributes subtask, send result to assembly maintenance unit, and broadcast task is distributed;

Assembly maintenance unit upgrades the assembly member who executes the task according to subtask assignment information;

Performance element, according to the task-driven UUV actuator operation task obtaining, is broadcasted tasks carrying information.

3. unmanned submarine navigation device according to claim 2 colony task coordination method, is characterized in that: described UUV retouches

The UUV status information of stating unit output is:

<u_id,u_cap,u_relinfo,u_stat>

Wherein u_id represents UUV unique identification, and u_cap represents the ability of UUV, and u_relinfo represents other relevant information of UUV, and u_stat represents the current state of UUV, has respectively:

<idle,excuting,failed,auctionning>

Idle represents idle condition, and excuting represents to execute the task, and failed represents that mission failure, auctionning represent to auction.

4. unmanned submarine navigation device according to claim 3 colony task coordination method, is characterized in that: the task status information of described task description unit output is:

<t_id,t_reqcap,t_reqno,t_relinfo,t_stat>

Wherein t_id represents task unique identification, and t_reqcap represents to carry out this required by task ability, and t_reqno represents to carry out the minimum UUV quantity of these task needs, and t_relinfo represents the relevant information of task, and t_stat represents the current state of task, has respectively:

<unachieved,auctioned,being_excuted,achieved,uncertain>

Unachieved represents that task does not complete that auction, auctioned have represented to auction, being_excuted represents to carry out, achieved represents to complete, uncertain represents that state is uncertain.

5. unmanned submarine navigation device according to claim 4 colony task coordination method, is characterized in that: the predefined preventive measure in described unpredictable situation and conflict unit are:

A, in the time the information of unknown UUV being detected, set up and communicate by letter with unknown UUV, collect the information of unknown UUV in UUV description unit renewal UUV status information,

B, in the time unknown mission bit stream being detected, collect unknown mission bit stream and upgrade task status information at task description unit, and join and do not finish the work in queue,

C, in the time detecting that state that having completed of a task with new task, is being carried out or auctioned is again published, send warning message to the UUV that issues this task,

D, in the time detecting that the UUV executing the task receives the cancellation information of current task, cancel the execution of task, upgrade oneself state at UUV description unit.

6. unmanned submarine navigation device according to claim 5 colony task coordination method, is characterized in that: the order of the priority of task queue that described dynamic task planning unit builds is to task point w according to UUV _irelative distance relDist (u _j, w _i) sequence from low to high, current UUV is by u _jrepresent, UUV to the relative distance of task point is:

$\mathrm{relDist}\left(u_j{,w}_i\right)=\mathrm{dist}(u_j,w_i)-\underset{\&ForAll;k\&NotEqual;j}{\min }\left(\mathrm{dist}(u_k,w_i)\right)$

Wherein dist (u _j, w _i) expression UUV, u _jto task point w _ieuclidean distance, represent all except u _jother outer UUV is to task point w _idistance minimum value, and according to relDist (u _j, w _i) tasks carrying region is divided into subregion by value, namely task M is divided into n subtask M ₁, M ₂..., M _i..., M _n, wherein n is the quantity of carrying out the UUV of this task.

7. unmanned submarine navigation device according to claim 6 colony task coordination method, it is characterized in that: in described task allocation unit, other UUV send to task allocation unit the cost that auction information is this UUV execution auction task, and current UUV carries out subtasking W _jcost C _jjfor:

$C_{\mathrm{jj}}=\underset{i=1}{\overset{q}{\mathrm{\&Sigma;}}}{c}_{\mathrm{ji}}$

Wherein q is subtask W _jin contain task point number, and u _ja w executes the task _icost c _jifor:

c _ji＝α*dist(u _j,w _i)+(1-α)*[dist(w _f1,w _f2)-max(dist(w _i,w _f1),dist(w _i,w _f2))]

dist(w _f1,w _f2)＝max(dist(w _i,w _j)),w _i,w _j∈M _j

Wherein w _f1and w _f2for subtask W _jin at a distance of two task points farthest, constant α is as adjusting the factor;

Other UUV subtaskings W _jcost be C _kjif, C _kjbe less than C _jj, so current UUV assigns the task to other UUV, and other UUV are by u _krepresent, otherwise current UUV subtasking W _j, the condition satisfied for other UUV is:

Wherein p is UUV sum.