支持混合主动交互的USV可变自主系统结构研究

Study on framework of mixed-initiative interaction USV system with adjustable autonomy

针对混合主动交互的水面无人艇(USV)系统体系结构设计问题,提出一种基于智能体的可变自主系统体系结构模型(MAAF).该模型分为USV可变自主部分、系统用户分析部分以及系统交互推理部分的设计和实现,并采用Agent信念-愿望-意图模型建立系统用户和USV的交互推理过程.最后,利用仿真实验验证,结果表明该系统结构模型满足混合主动交互和分布式与分层式相结合的决策要求,并且合理有效.

To address the problem of mixed initiative interaction between operators and unmanned surface vehicle(USV),system frameworks should to be taken into account.A framework model called the model of adjustable autonomy framework(MAAF)was proposed using agent theory.The framework consisted of three sections,which were USV control section,system operator analysis section and human-USV interaction reasoning section.Belief-desire-intention model was used to build the interaction models between the system operator and USV.Finally,simulation experiments conform that the MAAF allows mixed initiative interaction and meets the need for distributive and hierarchical decisions.Furthermore,the rationality and effectiveness were also verified.