CN105068550B - A kind of underwater robot multiobjective selection method based on auction model - Google Patents
A kind of underwater robot multiobjective selection method based on auction model Download PDFInfo
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Abstract
A kind of underwater robot multiobjective selection method based on auction model, comprises the following steps：In given monitoring waters, multiple mobile robots under water with perceptional function are disposed, mobile robot determines the positional information of itself and target by self-contained sensor under water；Utilize positional information calculation cost function, cost function and revenue function；And then a virtual auction common platform is built, the form for public auction of being successively decreased based on holland type is auctioned multiple targets；The underwater robot for having completed selection exits multiobjective selection platform, and remaining does not complete the underwater robot circulation selection of selection, is finally completed whole multiobjective selection process.Multiobjective selection strategy of the present invention can reasonably select corresponding target point according to the change dynamic of target location, while effectively increasing the stability of selection course.
Description
Technical field
The present invention relates to underwater robot field of intelligent control technology, especially a kind of underwater based on auction mechanism
People's multiobjective selection strategy.
Background information
Underwater moving target tracing system is intended to find target in time, obtains data message to realize to suspicious mobile target
Tracking, had important practical significance for safeguarding that China's maritime rights and interests and Support Resource are explored.Due to the complexity of underwater environment
Property and target state dynamic, underwater robot is possible to monitor multiple targets in synchronization, how dynamic
Reasonable selection follows the trail of target, as the key for building underwater multi-target tracing system.
Retrieval finds that Chinese Patent Application No. is 201310655173.2, entitled from the prior art：Underwater multi-target
Method for tracing, this method use it is a kind of improve resampling it is non-be augmented several tasteless particle filter algorithms with realize underwater multi-target with
Track.But the above method, when designing pursive strategy, the status information for target does not design multiobjective selection strategy.By
It is larger in underwater monitoring region, and underwater robot sports energy consumption is big and underwater installation changes the features such as battery is difficult, determines
It is necessary to combine the status information of underwater moving target in tracing process, designs a kind of dynamic multi-objective selection strategy, with
Underwater robot mass motion energy consumption is saved, and then extends the tracing system life-span.
Further, Chinese Patent Application No. is 201310556313.0, it is entitled：Objective design system of selection and system,
This method devises a kind of multiobjective selection strategy using the thought of game theory and threshold decision.But above-mentioned multiobjective selection plan
Slightly it is a kind of centralized algorithm, in order to get the status information that remaining is individual, each individual need is logical in real time with remaining individual
Letter." weak communication " characteristics such as underwater sound communication link is unstable, multi-path jamming and communication delay so that centralized multiobjective selection
Strategy is difficult to apply in underwater multi-target tracing system.Therefore, a kind of distributed many mesh of suitable underwater environment how to be designed
Mark selection strategy is particularly important.
The content of the invention
It is an object of the present invention to provide it is a kind of effectively improve selection course stability, it is rational based on auction model under water
Robot multiple-objective system of selection.
To achieve these goals, the present invention comprises the following steps：
(1) underwater robot location information and detection target position information are obtained
Multiple mobile robots under water with perceptional function are disposed in given monitoring waters, multirobot passes through under water
Underwater sound communication mode carries out networking, forms the multi-robot system under water with synergic monitoring ability；
Any underwater robot i can utilize existing location technology, underwater robot i position pi=(xi,yi,zi)T,
In formula, xi、yi、ziUnderwater robot i is represented respectively in X-axis, Y-axis, the corresponding position coordinates of Z axis, symbol " T " table
Show the transposition of vector；
When target enters monitored area, target position information passes through echo principle and triangle by multiple mobile robots under water
Mensuration determines to obtain；
(2) calculation cost function
When tracking multiple targets, form by inch of candle realizes multiobjective selection；Assuming that each target is for underwater
People is a valuable commodity, sets the value of the commodity as V, and for each underwater robot, it tracks different target point
The cost spent is different, i.e. underwater robot i is estimated be moved to target j needed for cost function be cij；
(3) according to cost function cij, build the cost function based on auction mechanism；
(4) revenue function is constructed
According to cost function and cost function, the revenue function r obtained by underwater robot i selection targets j is builtij(t),
I.e.
In formula, VijRepresent underwater robot i selection targets j institutes getable value, cijRepresent that underwater robot i is estimated
It is moved to cost needed for target j；
The target that underwater robot only selects more than prospective earnings is tracked, and underwater robot tries to achieve mesh in sensing region
After target bears interest, choose wherein highest income and be used as quotation, i.e. bi=max { ri1,ri2,…,rin, max in formula
{ri1,ri2,…,rinRepresent in ri1,ri2,…,rinMiddle selection maximum, biFor the maximum of return；
(5) dynamic multi-objective selection platform
A virtual auction common platform is built, the form for public auction of being successively decreased based on holland type is entered to multiple targets
Row auction, auction platform outcry by a certain price；It is bidder to set underwater robot, and all bidders, which both know about, to be worked as
Preceding outcry, outcry is gradually decreased, until some bidder responds in some price to outcry；For example, " auctioning flat
On platform ", current outcry is less than or equal to biWhen, then the bidder pays acquisition commodity (i.e. point of destination) with current outcry.
(6) underwater robot for having completed selection exits multiobjective selection platform, and remaining does not complete the machine under water of selection
Device people repeat step (4), is finally completed multiobjective selection task.
In step (2), underwater robot i is estimated be moved to target j needed for cost function cijDesign it is as follows：cij=| |
ej-pi| |,
Wherein, ej∈R3Represent target j positional information, R3Represent three dimensions, piFor underwater robot i positional informations.
In step (3), the method for building the cost function based on auction mechanism is as follows：
During multiobjective selection, the initial value setting of target is identical, any underwater robot selection target
J, then the value of acquisition is set to Vj=V/Nj,
Wherein, NjFor synchronization selection target j underwater robot individual amount, V is that submarine target corresponds under water
The commodity value of robot, by adding variable Nj, can be worth with the distribution of equalization target, and then reduce the redundancy for repeating selection
Degree.
When closer to the distance between multiple underwater robots, underwater robot, which is estimated to be moved to needed for target j, spends cost
cijDifference is smaller, to avoid the chaotic problem of underwater robot multiobjective selection, cost function is improved, except initial time
Outside, target value is different when being set in each selection, and target j by underwater robot i after being selected, underwater robot
Second of selection target j of i, it will obtain being worth V as followsij=V+ ε；
In formula, VijThe getable value of underwater robot i selection targets j institutes is represented, V is that submarine target corresponds to machine under water
The commodity value of device people, ε is the constant more than zero；
By the above-mentioned value adjustment with memory capability, in the case of original income is more or less the same, underwater robot i will
It can tend to select the last target j selected.
Compared with prior art, the invention has the advantages that：
1st, compared to centralized static allocation mode, above-mentioned dynamic select mode only needs to each individual and in its neighborhood
Body communication, can enable underwater robot reasonably select corresponding target point according to the change dynamic of target location.
2nd, cost function and increment are as design factor, with memory function, can avoid due to underwater environment complexity and
The phenomenon of the irregular dynamic hop of underwater robot multiobjective selection process caused by the factor such as underwater sound communication is unstable, effectively
Improve the stability of selection course.
Brief description of the drawings
Fig. 1 is the flow chart of the present invention.
Fig. 2 is the selection course schematic diagram of embodiment one.
Drawing reference numeral：1- underwater robot I, 2- underwater robot II, 3- underwater robot III, 4- submarine targets I, 5-
Submarine target II.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings：
As shown in figure 1, the present invention comprises the following steps：
(1) underwater robot location information and detection target position information are obtained
Multiple mobile robots under water with perceptional function are disposed in given monitoring waters, multirobot passes through under water
Underwater sound communication mode carries out networking, forms the multi-robot system under water with synergic monitoring ability；
Mobile robot determines the positional information of itself and target by self-contained sensor under water；Any machine under water
Device people i can utilize existing location technology, get self-position pi=(xi,yi,zi)T,
In formula, xi、yi、ziUnderwater robot i is represented respectively in X-axis, Y-axis, the corresponding position coordinates of Z axis, symbol " T " table
Show the transposition of vector；
When target enters monitored area, target position information passes through echo principle and triangle by multiple mobile robots under water
Mensuration determines to obtain；
(2) calculation cost function
When tracking multiple targets, form by inch of candle realizes multiobjective selection；Assuming that each target is for underwater
People is a valuable commodity, sets the value of the commodity as V, and for each underwater robot, it tracks different target point
The cost spent is different, i.e. underwater robot i is estimated be moved to target j needed for cost function be cij；
Underwater robot i is estimated be moved to target j needed for cost function cijFor：
cij=| | ej-pi| |, wherein, ej∈R3Represent target j positional information, R3Represent three dimensions, piFor machine under water
Device people's i positional informations；
(3) according to cost function cij, build the cost function based on auction mechanism；
The method for building the cost function based on auction mechanism is as follows：
During multiobjective selection, the initial value setting of target is identical, any underwater robot selection target
J, then the value of acquisition is set to Vj=V/Nj,
Wherein, NjFor synchronization selection target j underwater robot individual amount, V is that submarine target corresponds under water
The commodity value of robot, by adding variable Nj, can be worth with the distribution of equalization target, and then reduce the redundancy for repeating selection
Degree.
When closer to the distance between multiple underwater robots, underwater robot, which is estimated to be moved to needed for target j, spends cost
cijDifference it is smaller, due to the complexity and underwater sound communication multi-path jamming and Doppler propagation of underwater environment etc. it is unstable because
Element so that subaqueous sound ranging process has certain deviation.The noise characteristic of underwater environment so that underwater robot multiobjective selection
Irregular dynamic hop phenomenon is presented in process, causes the confusion of underwater robot multiobjective selection.To avoid underwater robot many
The chaotic problem of target selection, is improved to cost function, in addition to initial time, and target value is when being set in each selection
Different, target j by underwater robot i after being selected, second of selection target j of underwater robot i, it will obtain as follows
It is worth Vij=V+ ε；
In formula, VijThe getable value of underwater robot i selection targets j institutes is represented, V is that submarine target corresponds to machine under water
The commodity value of device people, ε is the constant more than zero；
By the above-mentioned value adjustment with memory capability, in the case of original income is more or less the same, underwater robot i will
It can tend to select the last target j selected, and then ensure that the stationarity of multiobjective selection process under noise situations.
(4) revenue function is constructed
According to cost function and cost function, the revenue function r obtained by underwater robot i selection targets j is builtij(t),
I.e.
In formula, VijRepresent underwater robot i selection targets j institutes getable value, cijRepresent that underwater robot i is estimated
It is moved to cost needed for target j；
As can be seen that above-mentioned revenue function, which is more than or equal to zero, i.e. underwater robot, will not do " losing proposition ", only select super
The target for crossing prospective earnings is tracked.Underwater robot is tried to achieve after the bearing interest of target in sensing region, and is chosen wherein
Highest income is used as quotation, i.e. bi=max { ri1,ri2,…,rin,
In formula, max { ri1,ri2,…,rinRepresent in ri1,ri2,…,rinMiddle selection maximum, biFor the maximum of return
Value；
(5) dynamic multi-objective selection platform
A virtual auction common platform is built, the form for public auction of being successively decreased based on holland type is entered to multiple targets
Row auction, auction platform outcry by a certain price；It is bidder to set underwater robot, and all bidders, which both know about, to be worked as
Preceding outcry, outcry is gradually decreased, until some bidder responds in some price to outcry；For example, " auctioning flat
On platform ", current outcry is less than or equal to biWhen, then the bidder pays acquisition commodity (i.e. point of destination) with current outcry.
(6) underwater robot for having completed selection exits multiobjective selection platform, and remaining does not complete the machine under water of selection
Device people repeat step (4), is finally completed multiobjective selection task.
Embodiment one：
(1) as shown in Fig. 2 in given monitoring waters, mobile robot is monitored to two targets under water for deployment three,
Underwater robot is underwater robot I1, underwater robot II2, underwater robot III3 respectively, and target is respectively submarine target
I4, submarine target II5, underwater robot are communicated with its monitored area inner machine people.Mobile robot passes through " echo under water
Principle " and triangulation determine the positional information of target.
(2) sampling time interval δ ＞ 0, in a sampling time, calculate revenue function, and according to calculated income letter
Number determines selected target successively.After the completion of target selection, monitoring is tracked to target direction stepping.
(3) in next sampling time, system determines current underwater robot and the position coordinates of target, underwater
People recalculates revenue function, updates target selection.
(4) continue to update, until multi-target tracking process terminates.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
Enclose and be defined, on the premise of design spirit of the present invention is not departed from, technical side of the those of ordinary skill in the art to the present invention
In various modifications and improvement that case is made, the protection domain that claims of the present invention determination all should be fallen into.
Claims (2)
1. a kind of underwater robot multiobjective selection method based on auction model, it is characterised in that comprise the following steps：
(1) underwater robot location information and detection target position information are obtained
Multiple mobile robots under water with perceptional function are disposed in given monitoring waters, multirobot passes through the underwater sound under water
Communication mode carries out networking, forms the multi-robot system under water with synergic monitoring ability；
Underwater robot i position pi=(xi,yi,zi)T,
In formula, xi、yi、ziUnderwater robot i is represented respectively in X-axis, Y-axis, the corresponding position coordinates of Z axis, and symbol T represents vector
Transposition；
When target enters monitored area, target position information passes through echo principle and triangulation by multiple mobile robots under water
Method determines to obtain；
(2) calculation cost function
When tracking multiple targets, form by inch of candle realizes multiobjective selection；Assuming that each target is for underwater robot
It is a valuable commodity, sets the value of the commodity as V, for each underwater robot, it tracks different target point and spent
The cost of expense is different, i.e. underwater robot i is estimated be moved to target j needed for cost function be cij；
(3) according to cost function cij, build the cost function based on auction mechanism；
During multiobjective selection, the initial value setting of target is identical, any underwater robot selection target j, that
The value of acquisition is set to Vj=V/Nj,
Wherein, NjFor synchronization selection target j underwater robot individual amount, V is that submarine target corresponds to underwater robot
Commodity value；
When closer to the distance between multiple underwater robots, underwater robot, which is estimated to be moved to needed for target j, spends cost cijPhase
Difference is smaller, and to avoid the chaotic problem of underwater robot multiobjective selection, cost function is improved, in addition to initial time,
Target value is different when being set in each selection, and target j by underwater robot i after being selected, underwater robot i
Second selecting target j, it will obtain being worth V as followsij=V+ ε,
In formula, VijThe getable value of underwater robot i selection targets j institutes is represented, V is that submarine target corresponds to underwater robot
Commodity value, ε is constant more than zero；
By the above-mentioned value adjustment with memory capability, in the case of original income is more or less the same, underwater robot i will incline
To in the target j of the last selection of selection；
(4) revenue function is constructed
According to cost function and cost function, the revenue function r obtained by underwater robot i selection targets j is builtij, i.e.,
In formula, VijRepresent underwater robot i selection targets j institutes getable value, cijRepresent that underwater robot i is estimated to be moved to
Cost needed for target j；
The target that underwater robot only selects more than prospective earnings is tracked, and underwater robot tries to achieve target in sensing region
After bearing interest, choose wherein highest income and be used as quotation, i.e. bi=max { ri1,ri2,…,rin,
Max { r in formulai1,ri2,…,rinRepresent in ri1,ri2,…,rinMiddle selection maximum, biFor the maximum of return；
(5) dynamic multi-objective selection platform
A virtual auction common platform is built, the form for public auction of being successively decreased based on holland type is clapped multiple targets
Sell, auction platform outcry by a certain price；It is bidder to set underwater robot, and all bidders both know about current
Outcry, outcry is gradually decreased, until some bidder responds in some price to outcry；
(6) underwater robot for having completed selection exits multiobjective selection platform, and remaining does not complete the underwater robot of selection
Repeat step (4), is finally completed multiobjective selection task.
2. a kind of underwater robot multiobjective selection method based on auction model according to claim 1, its feature exists
In, in step (2), underwater robot i is estimated be moved to target j needed for cost function cijFor：cij=| | ej-pi| |,
Wherein, ej∈R3Represent target j positional information, R3Represent three dimensions, piFor underwater robot i positional informations.
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| DE102018207539A1 (en) * | 2018-05-15 | 2019-11-21 | Robert Bosch Gmbh | Method for operating a robot in a multi-agent system, robot and multi-agent system |
| CN110609571B (en) * | 2019-08-06 | 2022-01-07 | 同济大学 | Multi-moving-object distributed collaborative visual positioning method based on multiple unmanned aerial vehicles |
| CN110488849A (en) * | 2019-08-29 | 2019-11-22 | 哈尔滨工程大学 | A kind of person's of surrounding and seize decision-making technique based on improvement auction algorithm |
| CN110825088B (en) * | 2019-11-29 | 2021-10-01 | 燕山大学 | Multi-view vision guiding ship body cleaning robot system and cleaning method |
| CN111680836B (en) * | 2020-06-06 | 2023-05-02 | 杭州电子科技大学 | Task allocation method for ST-SR (ST-SR) problem-oriented distributed multi-robot system |
| CN115242881B (en) * | 2022-08-01 | 2023-06-13 | 湖南大学无锡智能控制研究院 | Multi-underwater robot task allocation method and system based on acousto-optic hybrid communication |
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