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Unmanned system cluster control method based on behavior tree

A behavioral and clustering technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of lack of support for large-scale heterogeneous unmanned system clusters

Active Publication Date: 2021-10-22
NAT INNOVATION INST OF DEFENSE TECH PLA ACAD OF MILITARY SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0010] The traditional behavior tree is oriented to a single unmanned system platform, and lacks the realization support for large-scale heterogeneous unmanned system clusters

Method used

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  • Unmanned system cluster control method based on behavior tree
  • Unmanned system cluster control method based on behavior tree
  • Unmanned system cluster control method based on behavior tree

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Embodiment Construction

[0050] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0051] In order to make the objects, technical solutions, and advantages of the present invention more clearly, the technical solutions in the embodiments of the present invention will be described in contemplation in the embodiment of the present invention. It is an embodiment of the invention, not all of the embodiments. Based on the embodiments of the present invention, those of ordinary skill in the art will belong to the scope of the present invention in the scope of the present invention without making creative labor premises.

[0052] In order to understand the basic concept of behavioral trees, the following principles and designs of traditional behavioral trees are briefly introduced.

[0053] 1) Overview of the behavior tree

[0054] In terms of form, the behavior tree is a toxic tree structure, wherein the internal node is referred to as a control node, and the leaf node is called an execution node. For relation...

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Abstract

The invention relates to the technical field of unmanned system cluster control, particularly provides an unmanned system cluster control method based on a behavior tree, and aims to solve the technical problem of lack of implementation support for a large-scale heterogeneous unmanned system cluster. The unmanned system cluster is composed of a plurality of unmanned system platforms, inter-tree blackboards of the unmanned system platforms and inter-platform blackboards commonly owned by the unmanned system platforms, and each unmanned system platform is internally provided with at least one behavior tree engine corresponding to a set task. The behavior tree engine is composed of an event vector, a behavior tree and an in-tree blackboard corresponding to the behavior tree; according to the scheme, a distributed behavior tree framework is established for an unmanned system cluster, and the framework should eliminate the defects of an existing time-driven mode, can support the communication requirements of the unmanned system cluster, can provide a control mechanism for the abstract hierarchy of a behavior tree and can realize efficient control of the behavior tree; and finally, the requirements of high efficiency, effectiveness, controllability and the like of an unmanned system cluster control framework are met.

Description

Technical field [0001] The present invention relates to the field of unmanned system cluster control, and more particularly to an unmanned system cluster control method based on behavioral tree. Background technique [0002] The control model of the unmanned system requires simultaneous reactivity and modular characteristics. The reactivity means that the control model can react quickly and efficiently, and modularity refers to a component of a control model can be divided into a plurality of sub-modules and can be re-combined. [0003] For a long time, a limited state machine (FSM, FINITE STATE MACHINE has always been a standard choice for control model. But just like a goto statement in an earlier programming statement, FSM is one-way control jump, which will cause the system to trade between reactivity and modularization. In order to enable the system to reactivity, there is a need for many transitions between components, while multiple conversions mean that multiple one-way c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨学军武云龙王彦臻易晓东戴华东李晶华
Owner NAT INNOVATION INST OF DEFENSE TECH PLA ACAD OF MILITARY SCI
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