基于AADL的自主无人系统可成长框架

Growth Framework of Autonomous Unmanned Systems Based on AADL

近年来,自主无人系统的开发成本随着硬件设备性能的提高而增加,如何高效、智能化地完成开发工作成为无人系统的热门研究领域。基于AADL(Architecture Analysis and Design Language)的自主无人系统可成长框架从系统架构方式、基于配置项的系统工作模式以及原型系统等方面实现了无人系统(无人机、无人车等)软件适应性方案,以支撑资源、任务、环境变化时无人系统软件的成长和演化。搭建系统框架时采用基于模型驱动的思想,使用AADL模型基表示系统的中间组件,既保留了组件之间的继承关系,又便于开发者更直观地观察系统结构。系统模块化是实现其可成长性的基础,通过统一规范接口书写规则的方式,AADL模型基将可替换算法封装在中间组件中,算法的迭代与进化映射出了系统的可持续演化过程。通过爬虫的方式建立一个不断扩展的系统组件库,组件库除了支持自适应扩展功能外,还支持自定义模型的基功能。系统框架的可成长特性除了表现在系统文件的内容可扩展外,还表现在系统配置方案的选择多样性。在不同的环境、任务、资源状况下,系统的最佳配置项方案可能不同,为了找出适应条件的无人系统配置项选项的最优解,采用进化算法的思想,使系统实现自主进化的过程。最后,利用代码自动生成技术,实现AADL模型到系统文件之间的转换。通过可成长软件管理平台的运行与测试,验证了自主无人系统可成长框架的可行性。

Recent years,the development cost of autonomous unmanned systems increases with the improvement of hardware equipment performance.How to efficiently and intelligently develop systems is a hot research field for unmanned systems.The growth framework of autonomous unmanned systems based on AADL has improved the software adaptability of unmanned systems(drones,unmanned vehicles,etc.)from the system architecture,the system working mode based on configuration items,and the prototype system.It realizes the growth and evolution of unmanned system software when resources,tasks,and environments change.The system framework is based on model-driven thinking,and the AADL(Architecture Analysis and Design Language)model base is used to represent the intermediate components of the system.It not only retains the inheritance relationship between components,but also facilitates developers to observe the system structure more intuitively.System modularization is the basis for the growth.Through a unified standardized interface,the AADL model base encapsulates replaceable algorithms in intermediate components,and the iteration and evolution of the algorithm maps the sustainable evolution process of the system.An ever-expanding library of system components is established by crawlers.In addition to supporting adaptive extension functions,the component library also supports custom model-based functions.The growth characteristic of the system framework is not only manifested in the expands of the content of the system files,but also manifested in the diversity of system configuration options.The optimal configuration item scheme of the system may change under different environments,tasks,and resource conditions.In order to find the optimal solution of the unmanned system configuration item options under adaptive conditions,the idea of evolutionary algorithm is adopted to make the system realize the process of autonomous evolution.Finally,the automatic code generation technology is used to realize the conversion from AADL model to system file.The feasibility of the growth framework of the autonomous unmanned system is verified through the operation and test of the growth software management platform.