CN110390431A - A kind of search and rescue net and its dispatching method based on unmanned machine Swarm Intelligence Algorithm - Google Patents
A kind of search and rescue net and its dispatching method based on unmanned machine Swarm Intelligence Algorithm Download PDFInfo
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Abstract
The invention discloses a kind of search and rescue nets and its dispatching method based on unmanned machine Swarm Intelligence Algorithm, a kind of completely maritime affairs multiple agent joint search and rescue net and dispatching method based on unmanned machine Swarm Intelligence Algorithm are provided, the present invention establishes the layer control network system being made of multiple agent, based on edge calculations and distributed AC servo system thought, position is determined, the different tasks such as path planning and independent search are distributed to various distributed group control intelligent bodies on demand and are calculated, intelligent algorithm and the independent of intelligent body is made full use of to calculate decision-making capability, center control intelligent body and group control intelligent body only communicate a small amount of necessary information, during network topology structure dynamic change, intelligent scheduling can be carried out to data using particle swarm algorithm according to forwarding strategy, complete forwarded demand, this is suitable for marine low bandwidth Resource and the case where low QoS.
Description
Technical field
The present invention relates to a kind of maritime search and rescue methods, are based on unmanned machine Swarm Intelligence Algorithm more particularly, to one kind
Search and rescue net and its dispatching method.
Background technique
Maritime search and rescue action at this stage relies primarily on manpower progress, including manual decision, manual allocation search and rescue region, people
Work drives ship and carries out search and rescue.The whole flow process of search and rescue is commanded based on expert decision-making, from decision-maker to rescuer
Member and equipment are respectively divided the work, and various pieces are each responsible for decision, are searched and rescued commander and are searched and rescued on the spot, information process is slow, certainly
The plan time is long, influences search efficiency.Second accident, and search and rescue region easily occur under the conditions of bad environments for the ship of pilot steering
Partition process spends more time, and search efficiency is low.The communication of marine and land relies on GMDSS (global maritime
Distress and safety system) system, using satellite communication, terrestrial radio communication, maritime safety information is broadcast
Equal Subsystem Services are in maritime search and rescue activity, but since infrastructure limits, and by satellite, the information of the modes such as radio is transmitted
Low efficiency, GMDSS communication bandwidth is limited, lacks certain forwarding strategy, is unable to complete the forwarding tune of multiple types information
Degree.
With advances in technology, distributivity, concertedness, concurrency, robustness and intelligence possessed by unmanned boat and unmanned plane
Energy property provides new thinking for the development that maritime search and rescue work.
Summary of the invention
It is an object of the invention to overcome drawbacks described above of the existing technology, provide a kind of based on unmanned machine group intelligence
The search and rescue net and its dispatching method of energy algorithm, by establishing the layer control network system being made of multiple agent, sufficiently
Decision-making capability is calculated using intelligent algorithm and the independent of intelligent body, constructs a kind of new fast search rescue method.
To achieve the above object, technical scheme is as follows:
A kind of search and rescue net based on unmanned machine Swarm Intelligence Algorithm, including satellite, communication base station and search and rescue intelligent body
Group, which is characterized in that searching and rescuing intelligent body group includes center control intelligent body, an one or more search and rescue groups；One is searched
Rescuing group includes a group control intelligent body and one or more searching rescue intelligent bodies；
Center control intelligent body is responsible for the have an accident positioning in sea area and the formulation and distribution of search and rescue task, and wirelessly
The group control intelligent body communicated into one or more search and rescue groups issues instruction；
It is wirelessly communicated between group control intelligent body；
Group control intelligent body is responsible for calculating shortest path and searching route and is wirelessly handed down in this search and rescue group
Search and rescue intelligent body；
All members in agent swarm are searched and rescued, are the provisional communication nodes with data forwarding capability.
Preferably, wireless mode is 802.11 agreement of home control network communication protocol IEEE.
Preferably, nearby principle is used when search and rescue task is formulated and distributed to control intelligent body in center.
Preferably, after the group control intelligent body in search and rescue group receives the search and rescue task that center control intelligent body issues, according to searching
Mission bit stream and environmental information are rescued, carries out the shortest path between this search and rescue group starting point and this group search and rescue sea area using intelligent algorithm
Diameter plans that the group control intelligent body and search and rescue intelligent body in search and rescue group simultaneously enter this group of search and rescue region according to program results.
Preferably, agent swarm is searched and rescued to be made of unmanned plane and unmanned boat.
Preferably, group control intelligent body is according to the search and rescue intelligent body searched and rescued in mission bit stream, environmental information and this search and rescue group
Quantity formulates each traverse path for searching and rescuing intelligent body using intelligent algorithm, and is issued to each search and rescue intelligent body.
A kind of dispatching method of the search and rescue net based on unmanned machine Swarm Intelligence Algorithm, includes the following steps
S1: wrack issues alarm in danger, and the automatic disposal system in search and rescue center receives warning message and excludes to report by mistake；
S2: search and rescue center notifies standby search and rescue intelligent body group by satellite and/or communication base station, issues
Accident sea area latitude and longitude coordinates, sea situation, weather and search and rescue target information
S3: it searches and rescues intelligent body group and receives search and rescue task, center control intelligent body combining environmental searches and rescues sea because usually calculating
The range in domain divides search and rescue region in conjunction with the quantity for searching and rescuing search and rescue group in intelligent body group according to nearby principle；
S4: after the group control intelligent body in each search and rescue group receives the search and rescue task that center control intelligent body issues, according to search and rescue
Mission bit stream and environmental information carry out the shortest path between this search and rescue group starting point and this group search and rescue sea area using intelligent algorithm
It plans, the group control intelligent body and search and rescue intelligent body in each search and rescue group simultaneously enter this group of search and rescue region according to program results；
S5: the group control intelligent body in each search and rescue group is according to searching in search and rescue mission bit stream, environmental information and this search and rescue group
Intelligent body quantity is rescued, the traverse path for respectively searching and rescuing intelligent body in this search and rescue group is formulated using intelligent algorithm, and be issued to each search and rescue
Intelligent body；
S6: it after search and rescue intelligent body enters this group search and rescue sea area, is scanned for according to the path that group control intelligent body calculates；Such as
It was found that target, enters step S7；
S7: intelligent body is searched and rescued by target current information and reports to a group control intelligent body, which persistently tracks target simultaneously
Rescue appropriate is carried out, while surrounding large vessel being notified to assist；
Group control intelligent body in the search and rescue group controls intelligent body by satellite communication or directly with the group of adjacent search and rescue group
Communication, carries out assistance rescue；And report to center control intelligent body；Center control intelligent body is by satellite communication or directly and base
It stands to contact and target current information is transferred to search and rescue center；
After all search and rescue groups reach the scene of the accident, the group control intelligent body of each search and rescue group establishes provisional communication net jointly
Network records and transmits field condition, so that person on shore is made a policy and formulates subsequent rescue plan；
S8: after completing search and rescue task, the information that each search and rescue group records during searching and rescuing uploads to center control intelligent body
It is analyzed and is backed up, into standby mode.
Preferably, it is the border circular areas for delimiting a specified size that control intelligent body in center, which calculates the method for searching and rescuing sea area,
The radius of the border circular areas determines that the center of circle determines according to the following formula as the case may be
Wherein sw=vwT, sc=vcT, t=tb-ta, taIt is the time of fire alarming of ship, tbIt is to search and rescue intelligent body group
Start the time, t is the drift time of shipwreck, vwIt is the wind speed that center control intelligent body is collected into, vcIt is current speed, sdIt is heavy
The drift bearing calculation formula of the drift distance of ship, shipwreck is
Alpha+beta is wind direction and current direction angle, can be obtained by local weather forecast and Ocean environment information.
Preferably, the information transmitting searched and rescued between the member of intelligent body group is completed by cooperateing between group, and intelligence is searched and rescued
The member of energy body group selects Current communications forward node towards bank base direction as communication forward node by utility function
90 degree within the scope of node as relay node, utility function is
Wherein NXFor present node, NAFor the next node of data packet forwarding, R is fan-shaped radius, and D is distance between two points,For NXAnd NABetween direction,For the direction between fan-shaped bisector.
It can be seen from the above technical proposal that the present invention construct complete set maritime affairs multiple agent joint search and rescue net and
Dispatching method is based on edge calculations and distributed AC servo system thought, the different tasks such as determining, path planning and independent search by position
Various distributed group control intelligent bodies are distributed on demand to be calculated.Center control intelligent body and group control intelligent body only communicate
A small amount of necessary information can utilize particle swarm algorithm according to forwarding strategy during network topology structure dynamic change
Intelligent scheduling is carried out to data, completes forwarded demand, the case where this is suitable for marine low bandwidth resource and low QoS.Therefore,
The present invention, which has, improves search efficiency, lowers the distinguishing feature of cost of labor and manual intervention.
Detailed description of the invention
Fig. 1 is the classification maritime search and rescue illustraton of model that net is searched and rescued in the present invention；
Fig. 2 is the flow chart of dispatching method in the present invention；
Fig. 3 is the calculating schematic diagram of searching area in the present invention；
Fig. 4 is Multi-Agent Cooperation network model figure in the present invention；
Fig. 5 is communication forwarding strategy figure between multiple agent group.
Specific embodiment
With reference to the accompanying drawing, specific embodiments of the present invention will be described in further detail.
It should be noted that in following specific embodiments, when describing embodiments of the invention in detail, in order to clear
Ground indicates structure of the invention in order to illustrate, spy does not draw to the structure in attached drawing according to general proportion, and has carried out part
Amplification, deformation and simplified processing, therefore, should be avoided in this, as limitation of the invention to understand.
It is the classification maritime search and rescue that the present invention searches and rescues net with reference to Fig. 1, Fig. 1 in specific embodiment of the invention below
Illustraton of model,
A kind of search and rescue net based on unmanned machine Swarm Intelligence Algorithm, including satellite, communication base station and search and rescue intelligent body
Group, which is characterized in that searching and rescuing intelligent body group includes center control intelligent body, an one or more search and rescue groups；One is searched
Rescuing group includes a group control intelligent body and one or more searching rescue intelligent bodies.
It searches and rescues agent swarm group and is divided into three layers, be center control intelligent body, group control intelligent body and search respectively from top to bottom
Rescue agent, wherein center control intelligent body has and only one, group control intelligent body can have one or more, each group of control
Intelligent body has one or more searching rescue intelligent bodies, each group of control intelligent body and the searching rescue intelligent body composition under it
One search and rescue group.
Center control intelligent body is responsible for the have an accident positioning in sea area and the formulation and distribution of search and rescue task, center control intelligent body
Range in conjunction with ocean current, wind speed etc. because usually calculating accident sea area, divides search and rescue region.
Frequent Accidents are raw under severe weather conditions, and target may lost power, it is therefore necessary to estimate target
And positioning.After center control intelligent body receives wrecked ship co-ordinate position information, target is calculated according to ocean current and wind direction information
Drift bearing.Then search basic point is determined.Use calculated basic point as coordinate origin later, and combine electronic chart and
Real-time weather information determines region of search, as shown in Figure 3.
Calculating process is as follows:
If the time of fire alarming of ship is ta, the starting time of intelligent body group is tb, then the drift time of shipwreck is t=tb-
ta；The wind speed that center control intelligent body is collected into is vw, current speed vc, then offset distance is respectively sw=vwT and sc=
vc·t；
Wind direction and water (flow) direction are determined according to longitude and latitude.Then, as shown in figure 3, we establish a parallelogram,
Its diagonal line is the drift bearing of shipwreck.Then the drift distance s of shipwreck is calculated according to relative angled.Then according to the actual situation
Using reference point as the center of circle, choosing certain length is that radius work is justified, this circle is search range.
Center control intelligent body uses nearby principle when formulating and distribute search and rescue task, and wirelessly communicates to one
Group control intelligent body in a or multiple search and rescue groups issues instruction.
Group control intelligent body is responsible for calculating shortest path and searching route and is wirelessly handed down in this search and rescue group
Search and rescue intelligent body.
After group control intelligent body in search and rescue group receives the search and rescue task that center control intelligent body issues, according to the task of search and rescue letter
Breath and environmental information carry out the shortest path planning between this search and rescue group starting point and this group search and rescue sea area using intelligent algorithm,
It group control intelligent body in search and rescue group and searches and rescues intelligent body and enters this group of search and rescue region according to program results.
During reaching region of search, group control intelligent body is according to search and rescue mission bit stream, environmental information and this search and rescue
Search and rescue intelligent body quantity in group formulates each traverse path for searching and rescuing intelligent body using intelligent algorithm, and is issued to each search and rescue intelligence
It can body.
It is wirelessly communicated between group control intelligent body, is 802.11 agreement of IEEE specifically.
All members in agent swarm are searched and rescued, are the provisional communication nodes with data forwarding capability.
Agent swarm is searched and rescued to be made of unmanned plane and unmanned boat.
It is a kind of based on unmanned machine Swarm Intelligence Algorithm search and rescue net dispatching method include the following steps referring to fig. 2
S1: wrack issues alarm in danger, and the automatic disposal system in search and rescue center receives warning message and excludes to report by mistake.
S2: search and rescue center notifies standby search and rescue intelligent body group by satellite and/or communication base station, issues
Accident sea area latitude and longitude coordinates, sea situation, weather and search and rescue target information.
S3: it searches and rescues intelligent body group and receives search and rescue task, center control intelligent body combining environmental searches and rescues sea because usually calculating
The range in domain divides search and rescue region in conjunction with the quantity for searching and rescuing search and rescue group in intelligent body group according to nearby principle.
It is the border circular areas for delimiting a specified size, the circle that center control intelligent body, which calculates the method for searching and rescuing sea area,
The radius in domain determines that the center of circle determines according to the following formula as the case may be
Wherein sw=vwT, sc=vcT, t=tb-ta, taIt is the time of fire alarming of ship, tbIt is to search and rescue intelligent body group
Start the time, t is the drift time of shipwreck, vwIt is the wind speed that center control intelligent body is collected into, vcIt is current speed, sdIt is heavy
The drift bearing calculation formula of the drift distance of ship, shipwreck is
Alpha+beta is wind direction and current direction angle, can be obtained by local weather forecast and Ocean environment information.
S4: after the group control intelligent body in each search and rescue group receives the search and rescue task that center control intelligent body issues, according to search and rescue
Mission bit stream and environmental information carry out the shortest path between this search and rescue group starting point and this group search and rescue sea area using intelligent algorithm
It plans, the group control intelligent body and search and rescue intelligent body in each search and rescue group simultaneously enter this group of search and rescue region according to program results.
S5: the group control intelligent body in each search and rescue group is according to searching in search and rescue mission bit stream, environmental information and this search and rescue group
Intelligent body quantity is rescued, the traverse path for respectively searching and rescuing intelligent body in this search and rescue group is formulated using intelligent algorithm, and be issued to each search and rescue
Intelligent body.
S6: it after search and rescue intelligent body enters this group search and rescue sea area, is scanned for according to the path that group control intelligent body calculates；Such as
It was found that target, enters step S7.
S7: intelligent body is searched and rescued by target current information and reports to a group control intelligent body, which persistently tracks target simultaneously
Rescue appropriate is carried out, while surrounding large vessel being notified to assist.
Group control intelligent body in the search and rescue group controls intelligent body by satellite communication or directly with the group of adjacent search and rescue group
Communication, carries out assistance rescue, as shown in Figure 4；And report to center control intelligent body；Center control intelligent body passes through satellite communication
Or directly and target current information is transferred to search and rescue center by base station contacts.
After all search and rescue groups reach the scene of the accident, the group control intelligent body of each search and rescue group establishes provisional communication net jointly
Network records and transmits field condition, so that person on shore is made a policy and formulates subsequent rescue plan.
The information transmitting searched and rescued between the member of intelligent body group is completed by cooperateing between group, and intelligent body group is searched and rescued
Member as communication forward node, pass through utility function select 90 degree models of the Current communications forward node towards bank base direction
Node in enclosing is as relay node, as shown in figure 5, utility function is
Wherein NXFor present node, NAFor the next node of data packet forwarding, R is fan-shaped radius, and D is distance between two points,For NXAnd NABetween direction,For the direction between fan-shaped bisector.
S8: after completing search and rescue task, the information that each search and rescue group records during searching and rescuing uploads to center control intelligent body
It is analyzed and is backed up, into standby mode.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (9)
1. a kind of search and rescue net based on unmanned machine Swarm Intelligence Algorithm, including satellite, communication base station and search and rescue agent swarm
Group, which is characterized in that searching and rescuing intelligent body group includes center control intelligent body, an one or more search and rescue groups；One search and rescue
Group includes a group control intelligent body and one or more searching rescue intelligent bodies；
Center control intelligent body is responsible for the have an accident positioning in sea area and the formulation and distribution of search and rescue task, and wirelessly communicates
Group control intelligent body into one or more search and rescue groups issues instruction；
It is wirelessly communicated between group control intelligent body；
Group control intelligent body is responsible for calculating shortest path and searching route and is wirelessly handed down to searching in this search and rescue group
Rescue intelligent body；
All members in intelligent body group are searched and rescued, are the provisional communication nodes with data forwarding capability.
2. search and rescue net according to claim 1, which is characterized in that wireless mode is home control network communication protocol IEEE 802.11
Agreement.
3. search and rescue net according to claim 1, which is characterized in that when center controls intelligent body formulation and distribution search and rescue task
Using nearby principle.
4. search and rescue net according to claim 1, which is characterized in that the group control intelligent body in search and rescue group receives center control intelligence
After the search and rescue task that energy body issues, according to mission bit stream and environmental information is searched and rescued, this search and rescue group is carried out using intelligent algorithm and is set out
Point and this group search and rescue the shortest path planning between sea area, and the group control intelligent body and search and rescue intelligent body in search and rescue group are tied according to planning
Fruit enters this group of search and rescue region.
5. search and rescue net according to claim 1, which is characterized in that search and rescue intelligent body and be made of unmanned plane and unmanned boat.
6. search and rescue net according to claim 1, which is characterized in that group control intelligent body is believed according to search and rescue mission bit stream, environment
Breath and this search and rescue group in search and rescue intelligent body quantity, using intelligent algorithm formulate it is each search and rescue intelligent body traverse path, and under
It is sent to each search and rescue intelligent body.
7. a kind of dispatching method of the search and rescue net based on unmanned machine Swarm Intelligence Algorithm, includes the following steps
S1: wrack issues alarm in danger, and the automatic disposal system in search and rescue center receives warning message and excludes to report by mistake；
S2: search and rescue center notifies standby search and rescue intelligent body group by satellite and/or communication base station, issues accident
Sea area latitude and longitude coordinates, sea situation, weather and search and rescue target information；
S3: it searches and rescues intelligent body group and receives search and rescue task, center control intelligent body combining environmental searches and rescues sea area because usually calculating
Range divides search and rescue region in conjunction with the quantity for searching and rescuing search and rescue group in intelligent body group according to nearby principle；
S4: after the group control intelligent body in each search and rescue group receives the search and rescue task that center control intelligent body issues, according to the task of search and rescue
Information and environmental information carry out this search and rescue group starting point using intelligent algorithm and this group are searched and rescued the shortest path between sea area and advised
It draws, the group control intelligent body and search and rescue intelligent body in each search and rescue group simultaneously enter this group of search and rescue region according to program results；
S5: the group control intelligent body in each search and rescue group is according to the search and rescue intelligence searched and rescued in mission bit stream, environmental information and this search and rescue group
Energy body quantity, the traverse path that intelligent body is respectively searched and rescued in this search and rescue group is formulated using intelligent algorithm, and is issued to each search and rescue intelligence
Body；
S6: it after search and rescue intelligent body enters this group search and rescue sea area, is scanned for according to the path that group control intelligent body calculates；Such as discovery
Target enters step S7；
S7: intelligent body is searched and rescued by target current information and reports to a group control intelligent body, which persistently tracks target and carry out
Rescue appropriate, while surrounding large vessel being notified to assist；
Group control intelligent body in the search and rescue group controls agent communication by satellite communication or directly with the group of adjacent search and rescue group,
Carry out assistance rescue；And report to center control intelligent body；Center control intelligent body joins by satellite communication or directly with base station
Target current information is transferred to search and rescue center by system；
After all search and rescue groups reach the scene of the accident, the group control intelligent body of each search and rescue group establishes provisional communication network jointly, remembers
Record and transmission field condition, enable person on shore to make a policy and formulate subsequent rescue plan；
S8: after completing search and rescue task, the information that each search and rescue group records during searching and rescuing uploads to center control intelligent body and carries out
Analysis and backup, into standby mode.
8. dispatching method according to claim 7, which is characterized in that center control intelligent body calculates the method for searching and rescuing sea area
For the border circular areas for delimiting a specified size, the radius of the border circular areas determines that the center of circle is true according to the following formula as the case may be
It is fixed
Wherein sw=vwT, sc=vcT, t=tb-ta, taIt is the time of fire alarming of ship, tbIt is to search and rescue intelligent body group to expect
Arrival time, t are the drift time of shipwreck, vwIt is the wind speed that center control intelligent body is collected into, vcIt is current speed, sdIt is heavy
The calculation formula of the drift distance of ship, the drift bearing β of shipwreck is
Alpha+beta is wind direction and current direction angle, can be obtained by local weather forecast and Ocean environment information.
9. dispatching method according to claim 7, which is characterized in that the information searched and rescued between the member of intelligent body group passes
Passing is completed by cooperateing between group, is searched and rescued the member of intelligent body group as communication forward node, is selected by utility function
The node within the scope of 90 degree towards bank base direction of Current communications forward node is selected as relay node, utility function is
Wherein NXFor present node, NAFor the next node of data packet forwarding, R is fan-shaped radius, and D is distance between two points,For NXAnd NABetween direction,For the direction between fan-shaped bisector.
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| CN113867337A (en) * | 2021-09-14 | 2021-12-31 | 武汉理工大学 | Formation path planning method and system for maritime search and rescue |
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