欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
针对水面无人艇（unmanned surface vehicle，USV）在具有不确定性的实际任务形势下实现可变自主的问题，提出一种包含可变自主控制结构和自主等级决策算法的解决方案。可变自主控制结构中考虑了自主等级的划分、自主等级的评价和管理，并设计了基于多属性决策方法的自主等级决策算法。最后在USV导航任务为背景的仿真实验中，证明了可变自主系统控制结构和自主等级决策算法是合理的和有效的，同时显示了可变自主系统研究的实际意义及其对于系统规划性能的提高作用。
英文摘要：
In view of the problem of realizing adaptive autonomy of unmanned surface vehicle （USV） under physical environment with uncertainty, an adaptive autonomy control sti＇ucture including autonomy level decision algorithm is investigated to solve it. In this structure, the autonomy levels are defined, the evaluation and management mechanism are built, and an algorithm of autonomy level decision based on multi-attribute decision making theory is included. Finally, the navigation simulation experiments are implemented to illustrate the rationality and effectiveness of the control structure and the algorithm. The experiments also show that the adap rive autonomy has the practicality and improves human-robot system＇s planning performance.
同期刊论文项目
同项目期刊论文
期刊信息
位置：