Multi-UUV system negotiation cooperation modeling method based on contract network under constraint conditions

Abstract

The invention belongs to the field of underwater unmanned system modeling and simulation, and particularly relates to a multi-UUV system negotiation cooperation modeling method based on a contract network under constraint conditions. The method comprises the following steps: discrete basic behavior action navigation patrol, perception detection and trend targets are specifically defined, then selfhealth state, battery energy state and an underwater detection range constraint conditions are defined, a bidding logic control decision model facing constraint conditions is designed, then a local network taking a tenderer as a virtual central node and a bidder as a following node is formed to meet coordination and cooperation of a multi-UUV system for enemy target encirclement operation under adistributed structure. The method can effectively reduce the participation of invalid bidders in the formation of the local network LN, and ensures the quality and efficiency of task negotiation.

Description

technical field [0001] The present invention relates to the field of underwater unmanned system modeling and simulation, specifically a multi-UUV system negotiation and cooperation modeling method based on contract network under constraint conditions. Background technique [0002] As a strategic space for human survival, the ocean contains rich resources, and has become an important place for countries all over the world to develop marine economy, innovate marine equipment, safeguard marine rights and interests, and carry out international cooperation. As an important means to understand, explore, develop and utilize the ocean, the multi-UUV (Unmanned Underwater Vehicle) system not only breaks through the constraints of single UUV carrying energy and individual capabilities, but also realizes large-scale underwater space detection and identification under constraints. It is widely used in civil and military fields such as marine environment monitoring, submarine oil explorat...

AI Technical Summary

Problems solved by technology

However, the shortcomings and shortcomings of CNP in the actual application process cannot be ignored, mainly in the following aspects: (1) During the negotiation process, through certain quantitative indicators, such as resource balance and maximum efficiency, etc., the multi-UUV negotiation Transforming the process into a mathematical optimization problem often ignores individual capabilities such as UUV individual energy, detection range, and environmental change constraints, and does not realize that the contract network model is the essence of a discrete interactive behavior coordination process; (2) the contract network model is in During the negotiation process, the central UUV node uses the broadcast method for interactive communication. If the negotiation fails, it may re-negotiate multiple times, which will easily cause the network load to be too heavy, and the decision-making burden of managers and contractors will increase, resulting in a multiplied increase in communication traffic and affecting the negotiation. efficiency

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