采用排序组织法的USV自主等级控制算法

An USV controlling autonomy level algorithm based on PROMMETHEE

为使水面无人艇(Unmanned Surface Vehicle)系统能够主动地调整自身的自主等级,使其在不确定的海洋环境下执行导航任务时能够更加快速准确地识别目标任务,提出了一种基于排序组织法(preference ranking organization method for enrichment evaluation,PROMETHEE法)的自主等级控制算法.USV导航任务的仿真实验结果说明,基于排序组织法的自主等级控制算法可实现USV自适应式的自主等级调整,优化人机协作关系,较大程度地提高了无人系统的任务完成能力.由此得出结论:USV系统的可变自主性一定程度上优化了USV的导航能力.

In view of the influence of uncertain situation in Unmanned Surface Vehicle(USV) autonomous navigation, a USV autonomy level evaluation approach based on multi-attribute decision making theory is presented. Simulation experiment results of the USV navigation indicate that this approach can effectively determine USV autonomy level in uncertain situation. So by combining human cognition with USV autonomous planning, the unmanned system's ability to cope with uncertain situation is improved. Therefrom, the variable autonomy of the USV system optimizes the navigation capability of the USV to a certain extent.