不确定条件下AUV编队决策系统的WIFTCPN形式化建模

WIFTCPN Formalized Decision-making for AUV Formation System under Uncertainty

AUV编队系统受测量不精确、水下通信时延、粒度不一致等不确定条件作用,针对其决策系统离散、时延、分层、信息模糊等特点,提出了一种具有严格的数学基础、集形式化建模、仿真与验证为一体的方法—加权直觉模糊时间着色Petri网(weighted intuitionistic fuzzy timed colored petri net,WIFTCPN),给出了模糊时间延迟、不确定信息、模糊知识以及加权直觉模糊推理等与WIFTCPN之间的映射关系,利用CPN Tools工具构建了不确定信息的推理决策的仿真模型,并通过仿真分析检验了模型的正确性、活性和安全性等。

Usually the acquired target information is not sufficient and certain enough due to inaccurate measurements, inconsistent granularity and noise, which results in the AUV formation decision-making system having some characteristics, such as discrete, time delay, hierarchical, fuzzy, inconsistencies. Therefore, an integrated formal approach of modeling, simulation and verification based on weighted intuitionistic fuzzy timed colored petri net(WIFTCPN) was proposed. The mapping relationship between WIFTCPN and fuzzy time, time delay and intuition fuzzy inference rules were established. Furthermore, corresponding reasoning decision simulation model under uncertain information was built by using CPN Tools. The properties including liveness, home and fairness are validated.