有人/无人集群任务规划系统集成框架

Integration Framework for Manned/Unmanned Swarm Mission Planning Systems

在复杂环境中,环境动态性和任务多样性给无人集群自主协同、有人系统与无人集群协同带来了巨大挑战.为此,提出了有人/无人集群任务规划系统集成框架.该框架集成无人平台自主行为规划系统,无人集群分布式系统与有人/无人集群系统.无人平台通过感知、认知、决策与控制完成自主行为规划.无人平台间通过交互信息,彼此决策方式协同规划.有人系统支持在预先规划、实时规划与事后评估阶段与无人集群的协同交互.

In complex environments,the environmental dynamic and task diversity have brought great challenges to the autonomous coordination of unmanned swarms,coordination between manned system and unmanned swarm.Therefore,a manned/unmanned swarm mission planning system integration framework is proposed.The framework integrates the autonomous behavior planning system of unmanned platform,unmanned swarm distributed system and manned/unmanned swarm system.The unmanned platform completes autonomous behavior planning through perception,cognition,decision-making and control.The unmanned platforms collaborative planning by exchanging information and making decision-making with each other.Manned systems support collaborative interactions with unmanned swarms during pre-planning,real-time planning,and post-assessment phases.