无人水下航行器群体任务协调系统及方法

• Format: Patent
• Language: Chinese
• Published: 12.04.2017
• Subjects: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION ORPROCESSING OF GOODS; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS; TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINSTCLIMATE CHANGE

本发明公开了种无人水下航行器群体任务协调系统及方法。包括传感器模块、全局状态模块、任务协调模块和UUV执行器，传感器模块用于采集环境信息、UUV自身状态信息并接收其他UUV发送的信息；全局状态模块包括更新单元、UUV描述单元、任务描述单元，UUV描述单元进行UUV状态的更新，任务描述单元进行任务状态的更新；任务协调模块包括不可预见情况和冲突单元、动态任务规划单元、任务分配单元、组合体维护单元、执行单元，用于任务的协调与分配。本发明是个分布式、高效、稳定的多无人水下航行器任务协调系统与方法。 The invention discloses a UUV group task coordination system and method. The system comprises a sensor module, an overall situation module, a task coordination module and an UUV executor. The sensor module is used for collecting environment information and UUV self-state information and receiving information sent by other UUVs. The overall situation module comprises an updating unit, a UUV describing unit and a task describing unit. The UUV describing unit updates UUV states, and the task describing unit updates task states. The task coordination module comprises an unforeseen circumstance and conflict unit, a dynamic task planning unit, a task allocation unit, an assembly maintenance unit and execution unit and is used for task coordination and allocation. The UUV