CN114384930A - Group intelligent decision making system and method based on global information sharing - Google Patents
Group intelligent decision making system and method based on global information sharing Download PDFInfo
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Abstract
The invention discloses a group intelligent decision system and a group intelligent decision method based on global information sharing, and belongs to the field of unmanned cluster task planning. In the invention, each unmanned agent respectively executes a target detection task and uploads the acquired information to an information fusion module; the information fusion module collects the collected information to obtain a global information list; the intelligent agents respectively calculate and obtain the best task execution points of all the intelligent agents through the information list, and select corresponding task points to cover, so that supporting or interference tasks are realized. The invention provides a method for realizing group intelligent decision under the condition of global information sharing after task information is integrated, which can quickly form area coverage in a distributed and cooperative mode, realize the optimized scheduling of cluster resources, improve the task completion rate and response speed, and enable the whole group system to meet the complex and changeable task requirements under the condition of simple action rules.
Description
Technical Field
The invention belongs to the field of unmanned cluster task planning, and particularly relates to a group intelligent decision-making system and method based on global information sharing.
Background
In the application of the current cluster cooperative task decision, there is a high demand for communication, and high-quality communication support and fixed-point communication interference to a specific target group under a great special scene. Such as large-scale meeting communication security, emergency outburst, disaster relief in remote or dangerous areas, and communication support/interference application scenarios in the field of national defense security. However, the conventional communication depends on a pre-established infrastructure, the base station cannot be flexibly deployed at the optimal position according to the application requirement, the network topology cannot be changed or the communication quality cannot be optimized along with the change of the communication requirement of the user, and the conventional communication cannot be suitable for special scenes such as dynamic target communication coverage and the like.
The unmanned cluster can quickly form area coverage in a networking, distributed and cooperative mode, so that the cluster resources are optimally scheduled, and the task completion rate and the corresponding speed are improved. In this context, the idea of using an unmanned cluster intelligent decision system to develop a mobile communication support/interference task is developed. Meanwhile, the system depends on the advantage of group intelligence, and the whole group system can meet the complex and changeable task requirements under the simple action rule.
With the improvement of artificial intelligence technology and equipment computing power, various multi-collaborative task planning technologies have quite advanced in theoretical research, and can effectively process large-scale combined optimization and solution problems under multiple constraints. Based on the accumulated sediment of theoretical research, it is very important to further realize the group intelligent decision in the real environment.
At present, around two combined task requirements of cooperative communication support and cooperative communication interference, a high-quality communication support/interference task facing a specific target group needs to be realized according to constraints such as task area range, task timeliness requirements, non-uniform distribution characteristics of communication users, communication service types, environments, interference object types and distribution characteristics, interference modes, unmanned aerial vehicles and load capacity, cluster connectivity maintenance and the like. However, such a technique is still lacking in the prior art.
Disclosure of Invention
In view of this, the invention provides a group intelligent decision system and a group intelligent decision method based on global information sharing, which can be used for realizing a support interference task for cooperative/non-cooperative targets in a task environment and can improve the applicability to dynamic target coverage.
In order to achieve the purpose, the invention adopts the technical scheme that:
a group intelligent decision-making system based on global information sharing comprises a plurality of unmanned aerial vehicle intelligent bodies, wherein communication links are arranged among the unmanned aerial vehicle intelligent bodies, and each unmanned aerial vehicle intelligent body is provided with a detection module, an information fusion module and a task planning module;
the detection module is used for detecting target information of cooperative and non-cooperative targets in a task environment and storing the target information in the information fusion module; the target information comprises coordinates and types of targets;
target information is shared among information fusion modules of all unmanned aerial vehicle intelligent bodies, and a global information list of cooperative and non-cooperative targets is maintained together;
and the task planning module executes a task covering algorithm to respectively calculate the task execution points of all unmanned aerial vehicle intelligent bodies according to the global information list, selects the task execution points of the local machine, and enables the local machine to go to the covering so as to realize supporting or task interference.
Furthermore, the unmanned aerial vehicle intelligent bodies are provided with unique numbers, and priorities among the unmanned aerial vehicle intelligent bodies are appointed; when information is shared between the information fusion modules, if the distance between the targets of the same type detected by the two unmanned aerial vehicle intelligent bodies is smaller than a threshold value, the two targets are considered to be the same target, and at the moment, the target information of the unmanned aerial vehicle intelligent body with the high priority is selected and written into the global information list according to the priority agreed in advance.
A group intelligent decision method based on global information sharing is applied to a single intelligent agent and comprises the following steps:
step 1, an unmanned aerial vehicle intelligent body executes a target detection task and records target information of cooperative and non-cooperative targets in a task environment; the target information comprises coordinates and types of targets;
step 2, the unmanned aerial vehicle intelligent body stores the acquired target information in an information fusion module of the intelligent body;
step 3, the information fusion module of the unmanned aerial vehicle intelligent body shares target information with the information fusion modules of other unmanned aerial vehicle intelligent bodies, and a global information list of cooperative and non-cooperative targets is maintained locally;
and 4, a task planning module of the unmanned aerial vehicle intelligent bodies executes a task covering algorithm according to the global information list, respectively calculates to obtain the optimal task execution points of all the unmanned aerial vehicle intelligent bodies, and enables the unmanned aerial vehicle intelligent bodies to select the task execution points to cover, so that supporting or task interference is realized.
Further, the specific manner of step 3 is as follows:
step 301, periodically collecting target information recorded by each unmanned aerial vehicle intelligent agent;
and step 302, fusing target information recorded by different unmanned aerial vehicle intelligent bodies, if the distance between the targets of the same type detected by the two unmanned aerial vehicle intelligent bodies is smaller than a threshold value, considering the two targets as the same target, and at the moment, selecting the target information of the unmanned aerial vehicle intelligent body with high priority according to the priority between the unmanned aerial vehicle intelligent bodies agreed in advance and writing the target information into a global information list.
Compared with the prior art, the invention has the following advantages:
1. the invention abandons the characteristic that the traditional communication needs to erect the infrastructure in advance, and each intelligent agent in the system can be used as a communication base station, thus more flexibly and freely meeting the requirements of task environment and efficiently maintaining the communication capability among individuals.
2. The invention embodies the advantage of group intelligence, so that the whole group system can meet the complex and changeable task requirements under the condition of simple behavior rules.
3. After task information is integrated, group intelligent decision under the condition of global information sharing can be realized, regional coverage is quickly formed in a distributed and synergistic mode, optimized scheduling of cluster resources is realized, the task completion rate and the response speed are improved, and the whole group system can meet complex and changeable task requirements under simple action rules.
In a word, a high-quality communication support/interference task for a specific target group is subject to a group intelligent system based on an unmanned aerial vehicle, and the group intelligent decision system and the method based on global information sharing are provided according to the constraints of task area range, task timeliness requirements, non-uniform distribution characteristics of communication users, communication service types, environments, interference object types and distribution characteristics, interference modes, unmanned aerial vehicles and load capacity, cluster connectivity maintenance and the like. The invention can be used for unmanned cluster information support/interference tasks, and can effectively realize information support and communication interference on cooperative/non-cooperative targets.
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FIG. 1 is a schematic structural diagram of a group intelligent decision system according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating task execution by a single agent in accordance with an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, a group intelligent decision system based on global information sharing includes a plurality of unmanned aerial vehicle agents, communication links are provided between the unmanned aerial vehicle agents, and each unmanned aerial vehicle agent has a detection module, an information fusion module and a mission planning module;
the detection module is used for detecting target information of cooperative and non-cooperative targets in a task environment and storing the target information in the information fusion module; the target information comprises coordinates and types of targets;
target information is shared among information fusion modules of all unmanned aerial vehicle intelligent bodies, and a global information list of cooperative and non-cooperative targets is maintained together;
and the task planning module executes a task covering algorithm to respectively calculate the task execution points of all unmanned aerial vehicle intelligent bodies according to the global information list, selects the task execution points of the local machine, and enables the local machine to go to the covering so as to realize supporting or task interference.
As shown in fig. 2, the specific implementation steps of the single unmanned aerial vehicle are as follows:
step 1, carrying out a target detection task by an intelligent agent with a sensor, specifically realizing cluster coverage search of a task environment by adopting a Z-shaped scanning strategy, identifying non-cooperative targets in the task environment by a target identification algorithm and recording corresponding target information, wherein the cooperative targets can actively report the position information of the cooperative targets to each intelligent agent.
And 2, an information fusion module is arranged in the intelligent agents, the intelligent agents perform data transmission through ad hoc network communication, share the recorded information and store the recorded information in the information fusion module of the intelligent agents.
The intelligent cluster ad hoc network communication system is a dynamic autonomous local area wireless communication network with the obvious technical characteristics of distribution, no center, self-organization, multi-service and the like. The dynamic joining and exiting of members in the cluster are supported, the cooperative communication requirement under the large-scale and high-dynamic condition of the intelligent cluster is met, and the method is also suitable for solving the network communication under various complex and special environments.
Step 3, integrating the information of the cooperative target and the non-cooperative target obtained in the step 1 by the information fusion module, and regarding two targets of the same type, if the distance between the two targets is smaller than a certain threshold value, the two targets can be regarded as one target by the information fusion module to be processed to obtain integrated information; the intelligent agent updates the information list in the information fusion module at a certain frequency and inputs the information list to the intelligent agent task planning module;
step 4, the intelligent agent distributes the targets through the summary target information in the global information listThe method comprises the following steps that hexagonal grids are divided, the whole grid is subjected to offset adjustment, so that the optimal hexagonal distribution is obtained to realize the communication support coverage of a target, and the center of a needed hexagon is the optimal global task execution point of all intelligent agents; pos is screened out by the kth intelligent agentkThe communication support or the interference task is realized by going to the coverage as a task execution point.
In the step 1, the cooperative targets are mostly own units, such as own personnel, vehicles and the like, information of common cooperative targets can be automatically reported to each intelligent agent, and the intelligent agent needs to carry out communication support coverage on the targets and constantly keeps the state of information communication between each cooperative target and the intelligent agent; the non-cooperative target is an enemy unit to be covered with interference, the target does not report individual information, and a series of information needs to be obtained by detection, identification and analysis of an intelligent agent.
In step 2, each agent contains an information fusion module, information sharing is realized among the modules, and a global information list is maintained and updated together for storing cooperative/non-cooperative target information (position coordinates, target types and the like) and current state information of each agent.
In summary, the present invention provides a method for implementing group intelligent decision under the condition of global information sharing after integrating task information, which can quickly form area coverage in a distributed and collaborative manner, implement optimized scheduling of cluster resources, and improve task completion rate and response speed. The invention abandons the characteristic that the traditional communication needs to erect the infrastructure in advance, and each intelligent agent in the system can be used as a communication base station, thus more flexibly and freely meeting the requirements of task environment and efficiently maintaining the communication capability among individuals. The invention gives full play to the advantages of group intelligence, so that the whole group system can meet the complex and changeable task requirements under the simple action rule, thereby being beneficial to realizing the high-quality communication support/interference task oriented to a specific target group.
Claims (4)
1. A group intelligent decision-making system based on global information sharing comprises a plurality of unmanned aerial vehicle intelligent bodies, wherein communication links are arranged among the unmanned aerial vehicle intelligent bodies; the unmanned aerial vehicle intelligent agent system is characterized in that each unmanned aerial vehicle intelligent agent is provided with a detection module, an information fusion module and a task planning module;
the detection module is used for detecting target information of cooperative and non-cooperative targets in a task environment and storing the target information in the information fusion module; the target information comprises coordinates and types of targets;
target information is shared among information fusion modules of all unmanned aerial vehicle intelligent bodies, and a global information list of cooperative and non-cooperative targets is maintained together;
and the task planning module executes a task covering algorithm to respectively calculate the task execution points of all unmanned aerial vehicle intelligent bodies according to the global information list, selects the task execution points of the local machine, and enables the local machine to go to the covering so as to realize supporting or task interference.
2. The global information sharing based group intelligent decision making system as claimed in claim 1, wherein the multiple unmanned aerial vehicle agents all have unique numbers and agree on priorities among the unmanned aerial vehicle agents; when information is shared between the information fusion modules, if the distance between the targets of the same type detected by the two unmanned aerial vehicle intelligent bodies is smaller than a threshold value, the two targets are considered to be the same target, and at the moment, the target information of the unmanned aerial vehicle intelligent body with the high priority is selected and written into the global information list according to the priority agreed in advance.
3. A group intelligent decision method based on global information sharing is characterized by being applied to a single intelligent agent and comprising the following steps:
step 1, an unmanned aerial vehicle intelligent body executes a target detection task and records target information of cooperative and non-cooperative targets in a task environment; the target information comprises coordinates and types of targets;
step 2, the unmanned aerial vehicle intelligent body stores the acquired target information in an information fusion module of the intelligent body;
step 3, the information fusion module of the unmanned aerial vehicle intelligent body shares target information with the information fusion modules of other unmanned aerial vehicle intelligent bodies, and a global information list of cooperative and non-cooperative targets is maintained locally;
and 4, a task planning module of the unmanned aerial vehicle intelligent bodies executes a task covering algorithm according to the global information list, respectively calculates to obtain the optimal task execution points of all the unmanned aerial vehicle intelligent bodies, and enables the unmanned aerial vehicle intelligent bodies to select the task execution points to cover, so that supporting or task interference is realized.
4. The global information sharing-based group intelligent decision method according to claim 1, wherein the specific manner of step 3 is as follows:
step 301, periodically collecting target information recorded by each unmanned aerial vehicle intelligent agent;
and step 302, fusing target information recorded by different unmanned aerial vehicle intelligent bodies, if the distance between the targets of the same type detected by the two unmanned aerial vehicle intelligent bodies is smaller than a threshold value, considering the two targets as the same target, and at the moment, selecting the target information of the unmanned aerial vehicle intelligent body with high priority according to the priority between the unmanned aerial vehicle intelligent bodies agreed in advance and writing the target information into a global information list.
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|---|---|---|---|---|
| CN208110387U (en) * | 2018-02-12 | 2018-11-16 | 深圳大学 | A kind of indoor Visual Navigation unmanned plane cluster flight control system |
| CN112464994A (en) * | 2020-11-05 | 2021-03-09 | 北京航天控制仪器研究所 | Boat stern wave identification and removal method based on PointNet network |
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