海洋自主无人系统跨域协同任务规划模型与技术发展研究

doi:10.12382/bgxb.2024.0833

摘要/Abstract

摘要：

跨域协同任务规划是无人系统实现集群化、自主化、多功能化的关键技术和重要支撑。主要聚焦海洋自主无人系统,阐述了无人系统跨域协同任务规划的基本概念和原则特点,分析了跨域无人集群典型应用案例,提出了无人系统跨域协同任务规划的控制结构和基本流程,构建了分布式任务规划模型,并通过剖析现阶段存在的突出问题,总结了下一步研究展望,以期为我国海洋自主无人系统建设和发展提供一定的参考。

关键词: 跨域协同, 海洋自主无人系统, 控制架构, 分布式任务规划模型

Abstract:

Cross-domain collaborative mission planning is the key technology and important support for the clustering, autonomization and multifunctionalization of unmanned systems. Focusing on ocean autonomous unmanned system, the basic concept, principle and characteristics of unmanned system cooperative mission planning are expounded, and the typical application cases of unmanned system cooperative mission planning are analyzed. The basic process and control structure of unmanned system cooperative mission planning are presented. A distributed mission planning model is constructed. The future research prospects are summarized by analyzing the existing problems in order to provide some reference for the construction and development of ocean autonomous unmanned system.

Key words: cross-domain collaboration, ocean autonomous unmanned system, control architecture, distributed mission planning model

王亮, 徐同乐, 肖玉杰, 李烨, 靳子荣, 郑升武. 海洋自主无人系统跨域协同任务规划模型与技术发展研究[J]. 兵工学报, 2024, 45(S2): 1-8.

WANG Liang, XU Tongle, XIAO Yujie, LI Ye, JIN Zirong, ZHENG Shengwu. Model and Technology Development of Cross-domain CooperativeMission Planning for Ocean Autonomous Unmanned System[J]. Acta Armamentarii, 2024, 45(S2): 1-8.

图/表 11

表1 跨域无人集群与多跨域异构无人系统的对比

Table 1 Comparative analysis of cross-domain unmanned clusters and multi-domain isomeric unmanned systems

分类	跨域无人集群	多跨域异构无人系统
装备数量	多	多
人为干预	少	多
协同水平	高	低
空间密度	大	小
控制难度	难	易
任务功能	多	有限
系统特点	个体可偏小、可压缩成本	通常为高端无人系统
通信控制	无线自组网(如ad-hoc)	点对点、星状网

图1 跨域协同任务规划逻辑内容

Fig.1 Logical content of cross-domain collaborative mission planning

表2 跨域协同任务规划的基本原则

Table 2 Fundamental principles of cross-domain collaborative mission planning

序号	分类	原则内容
1	任务分配	委派与相应无人系统功能特点相适应的目标任务
2		符合跨域无人集群协同遂行任务时的时间协调要求
3		动态规划不同任务下全局最优化的目标分配方案
4	航路规划	符合可以完成既定任务且低概率发现情况下的最优航行线路
5	航迹规划	避开航迹威胁(气象、地形)、威胁源(雷达探测、电磁干扰)、编队碰撞
6	航迹规划	符合航行约束条件下的自身特性(UAV的最低飞行高度、最大爬升/俯冲角等;USV的最大允许负载、最大转弯角等;UUV的最大续航能力、最大马力航速等)

图2 跨域无人集群协同行动控制结构

Fig.2 Co-operative command and control structure of cross-domain unmanned cluster

图3 跨域协同任务规划基本流程图

Fig.3 Basic flowchart of cross-domaincollaborative mission planning

图4 集中式控制方式

Fig.4 Centralized control modalities

图5 分布式控制方式

Fig.5 Distributed control modalities

图6 跨域协同任务规划控制模型

Fig.6 Command and control model for cross-domain collaborative mission planning

图7 无人集群跨域协同的层次化物理结构

Fig.7 Layered physics of cross-domain collaboration of unmanned clusters

图8 跨域协同任务规划层次化逻辑结构

Fig.8 Layered logic structure for cross-domain collaborative task planning

图9 无人系统跨域协同任务规划中的关键技术

Fig.9 Key techniques of collaborative mission planning for unmanned systems

参考文献 14

[1]	何玉庆, 秦天一, 王楠. 跨域2FF协同: 无人系统技术发展和应用新趋势[J]. 无人系统技术, 2021, 4(4): 1-13.
	HE Y Q, QIN T Y, WANG N. Cross-domain collaboration: new trends in the development and application of unmanned systems technologies[J]. Unmanned Systems Technology, 2021, 4(4):1-13. (in Chinese)
[2]	陈庆鸿. 美国“印太”军事威慑战略评析[J]. 现代国际关系, 2023(6):27-47,143.
	CHEN Q H. Evaluation of the American Indo-Pacific military deterrence strategy[J]. Modern International Relations, 2023(6):27-47,143. (in Chinese)
[3]	向锦武, 董希旺, 丁文锐, 等. 复杂环境下无人集群系统自主协同关键技术[J]. 航空学报, 2022, 43(10):527570. doi: 10.7527/S1000-6893.2022.27570
	XIANG J W, DONG X W, DING W R, et al. Key technologies for autonomous collaboration of unmanned cluster systems in complex environments[J]. Acta Aeronautica et AstronauticaSinica, 2022, 43(10):527570. (in Chinese)
[4]	刘大卫, 翟俊达, 魏蓝, 等. 无人机集群任务规划与协同系统架构[J]. 兵工学报, 2023, 44(增刊2):191-198.
	LIU D W, ZHAI J D, WEI L, et al. UAV swarm mission planning and cooperative system architecture[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2):191-198. (in Chinese)
[5]	贾高伟, 王建峰. 无人机集群任务规划方法研究综述[J]. 系统工程与电子技术, 2021, 43(1):99-111. doi: 10.3969/j.issn.1001-506X.2021.01.13
	JIA G W, WANG J F. Review of mission planning methods of UAV cluster[J]. Systems Engineering and Electronic Technology, 2021, 43(1):99-111. (in Chinese)
[6]	杨晨, 张少卿, 孟光磊. 多无人机协同任务规划研究[J]. 指挥与控制学报, 2018, 4(3):234-248.
	YANG C, ZHANG S Q, MENG G L, et al. Multi-UAV cooperative mission planning[J]. Journal of Command and Control, 2018, 4(3):234-248. (in Chinese)
[7]	王童豪, 彭星光, 胡浩, 等. 海上有人/无人协同系统及其关键技术综述[J]. 兵工学报, 2024, 45(10):3317-3340. doi: 10.12382/bgxb.2024.0327
	WANG T H, PENG X G, HU H, et al. Manned/unmanned cooperative systems and key technologies:a survey[J]. Acta Armamentarii, 2024, 45(10):3317-3340. (in Chinese)
[8]	郭志高. 基于不确定信息的UCAV任务分配方法研究[D]. 沈阳: 沈阳航空航天大学, 2011.
	GUO Z G. UCAV task assignment based on uncertain information[D]. Shenyang: Shenyang Aerospace University, 2011. (in Chinese)
[9]	翟晓峰. 资源调度机制的研究及其在电子对抗中的应用[D]. 南京: 南京航空航天大学, 2010.
	ZHAI X F. Research on resource scheduling mechanism and its application in electronic confrontation[D]. Nanjing: Nanjing Aeronautics and Space University, 2010. (in Chinese)
[10]	李凌昊, 张晓晨, 王浩, 等. 海上异构无人装备一体化协同作战架构[J]. 舰船科学技术, 2019, 41(12):50-53.
	LI L H, ZHANG X C, WANG H, et al. Research on cooperative operational architecture of integrated heterogeneous unmanned marine equipment[J]. Ship Science and Technology, 2019, 41(12):50-53. (in Chinese)
[11]	龙涛. 多UCAV协同任务控制中分布式任务分配与任务协调技术研究[D]. 长沙: 国防科学技术大学, 2006.
	LONG T. Research on distributed task allocation and task coordination in multi-UCAV collaborative task control[D]. Changsha: University of Science and Technology of National Defense, 2006. (in Chinese)
[12]	赵启程. 多UCAV攻击多目标任务与航迹实时规划研究[D]. 南京: 南京航空航天大学, 2009.
	ZHAO Q C. Research on multi-target mission and track real-time planning of multi-UCAV attack[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2009. (in Chinese)
[13]	牛轶峰, 沈林成, 李杰, 等. 无人-有人机协同控制关键问题[J]. 中国科学:信息科学, 2019, 49(5):538-554.
	NIU Y F, SHEN L C, LI J, et al. Key scientific problems in cooperation control of unmanned-manned aircraft systems[J]. Chinese Science:Information Science, 2019, 49(5):538-554. (in Chinese)
[14]	龙涛, 朱华勇, 沈林成. 多UCAV协同中基于协商的分布式任务分配研究[J]. 宇航学报, 2006, 27(3):457-462.
	LONG T, ZHU H Y, SHEN L C. Negotiation-based distributed task allocation for cooperative multiple unmanned combat aerial vehicles[J]. Chinese Journal of Astronautics, 2006, 27(3):457-462. (in Chinese)