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Role-based group unmanned system cooperative task management method

A role and group technology, applied in the field of group unmanned system control, can solve problems such as lack of flexible and effective support, and achieve the effect of ensuring high efficiency and robustness

Pending Publication Date: 2020-05-05
NAT INNOVATION INST OF DEFENSE TECH PLA ACAD OF MILITARY SCI
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the current task management method, vertical programming development is mainly aimed at a specific single unmanned system or cluster, and a specific application, and lacks flexible and effective support in terms of dynamic organization of heterogeneous groups, dynamic configuration of group tasks, and group autonomous collaboration. Therefore, It is necessary to design methods and mechanisms suitable for efficient collaborative task management of swarm unmanned systems

Method used

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  • Role-based group unmanned system cooperative task management method
  • Role-based group unmanned system cooperative task management method
  • Role-based group unmanned system cooperative task management method

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Effect test

Embodiment 1

[0048] A role-based collaborative task management method for swarm unmanned systems, such as figure 1 shown, including the following;

[0049] A. Role scheduling mechanism:

[0050]In the swarm intelligent robot operating system, guided by the four scientific issues of "autonomous observation and group perception, autonomous judgment and group cognition, autonomous decision and group game, autonomous action and group dynamics", the "observe ), judgment (orient), decision (decide), action (act)" four links, designed the observation bus, judgment bus, decision bus, action bus, and proposed the concept of role (Actor) to realize the function of the role . "Role" is abstracted as: an execution behavior of a robot to complete a given task, which is the core concept of the swarm intelligent operating system. Applying the concept of role to the control abstraction of swarm unmanned systems, the formed "role" framework has become a swarm The intelligent operating system is the basi...

Embodiment 2

[0070] In order to improve the synchronization of group unmanned systems when performing tasks and enhance task management capabilities, the method described in Embodiment 1 may also include a synchronous role switching mechanism: for synchronous role switching of multiple roles. The synchronous role switching mechanism can realize the function of synchronous switching of multiple unmanned systems in the group from one role to another, and the function of synchronous switching of multiple unmanned systems in the group from different roles to another role. The group roles and the transition conditions and synchronization requirements in the group collaborative task process are strongly constrained, which ensures the efficiency and robustness of the collaborative management of the group unmanned system.

[0071] There are many ways to achieve synchronization, such as mutexes, semaphores, and critical sections. For this example, the synchronous switching of multiple different rol...

Embodiment 3

[0074] In order to improve the flexibility of group unmanned system collaborative task management and enhance task management capabilities, the method described in Embodiment 1 also includes a branching and aggregation mechanism: the group used for synchronous task execution splits into multiple sub-groups to perform multiple sub-tasks, and in the sub-groups After the execution of the task, re-aggregate to continue the execution of the task. When the group is branched and split into multiple subgroups, the system will manage the group according to the status of each member in the subgroup to coordinate group tasks.

[0075] Such as image 3 as shown, image 3 It is a schematic diagram of group role branching and aggregation scenarios. Taking the group unmanned system to perform a group collaborative task as an example, 15 UAVs play the role of A and form a formation to fly. When the target is found, the corresponding event is triggered and the event is processed, and the syn...

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Abstract

The invention relates to a role-based group unmanned system cooperative task management method, and belongs to the technical field of group unmanned system control. The method comprises a role scheduling mechanism, wherein a role is a basic scheduling unit; describing and endowing different capabilities to the role by using a plug-in, switching of different roles is realized based on mounting / unloading of the plug-in; the role switching mechanism comprises event triggering and event processing; the event triggering is used for generating an event for triggering role switching; the event processing is used for responding to the event; and the group organization management mechanism is used for group management when the event is responded. Compared with the prior art, a collaborative task management mechanism is provided at the operating system level, the problem that the group unmanned system realizes tasks according to dynamic organization, dynamic configuration and autonomous collaboration of the tasks is solved, and the intelligence and autonomy of the group unmanned system and the convenience of organization of the heterogeneous group unmanned system are improved.

Description

technical field [0001] The invention belongs to the technical field of swarm unmanned system control, relates to a group collaborative task management method, in particular to a role-based group unmanned system collaborative task management method. Background technique [0002] The swarm intelligence unmanned system integrates technologies such as swarm integration intelligence, autonomous intelligence, and manned / unmanned collaborative intelligence. sexual technology. At present, the swarm intelligent unmanned system has become a new hotspot of research and competition around the world. In the "New Generation Artificial Intelligence Development Plan", China also listed group integrated intelligence as an important development direction and breakthrough point. Professor Nagpal of Harvard University designed and proposed the Kilobot cluster robot system composed of 1024 micro-robots, which realized the behavior and organization mode of decentralization, point-to-point, larg...

Claims

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Application Information

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IPC IPC(8): G06Q10/06B25J9/16G05D1/00
CPCG05D1/0088G06Q10/06316B25J9/1602B25J9/163B25J9/1661
Inventor 杨学军易伟戴华东易晓东王彦臻邸斌
Owner NAT INNOVATION INST OF DEFENSE TECH PLA ACAD OF MILITARY SCI
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