A contract network-based multi-uuv system negotiation and cooperation modeling method under constraints

Abstract

The invention belongs to the field of underwater unmanned system modeling and simulation, and specifically relates to a multi-UUV system negotiation and cooperation modeling method based on a contract network under constraint conditions. The method of the invention specifically defines discrete basic behaviors such as navigation patrol, perception To detect and tend to the target, on this basis, define the constraints of its own health status, battery energy status, and underwater detection range, and design a bidding logic control decision-making model oriented to constraints, and then form a virtual central node with the tenderer as a virtual central node, winning the bid The latter is a local network of follower nodes, which satisfies the coordination and cooperation of multi-UUV systems in a distributed structure for rounding up enemy targets. The method of the invention can effectively reduce invalid bidders from participating in the formation of the local network LN, and ensure the quality and efficiency of task negotiation.

Description

technical field [0001] The invention relates to the field of underwater unmanned system modeling and simulation, and specifically relates to a multi-UUV system negotiation and cooperation modeling method based on a 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 a 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 o...

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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