多武器多目标配对半自主协同控制

Yushing Cheung, J. Chung
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引用次数: 2

摘要

研究了机器人单主多从(SMMS)系统的多武器多目标配对(WTP)协同控制方法。所开发的控制方法的主要组成部分是基于势场的领导-跟随编队、操作员误差补偿和武器-目标配对(WTP)。一个SMMS系统有两个子系统,一个主机器人和多个从机器人。主机器人可以向多从机器人发送操作员指令,多从机器人是一组移动机械手,在感知环境的同时执行操作员指令。为了达到最佳效果,根据武器和目标的数量和类型将多从机器人划分为子群。每个子组都有一个领导者-追随者架构/形式。小组领导由人工操作员远程控制,领导子小组的领导和追随者。由于对检测到的操作误差进行补偿,SMMS系统的透明度可自适应调整。提出了一种基于传感器的自动切换方法,将编队重构、避碰和运动控制相结合,提高了系统的可靠性和鲁棒性。WTP方法是在已有的单目标竞价算法的基础上,扩展到多武器多目标情况下,基于一种新的启发式算法优化基于效果的武器-目标配对。这是一种结合基于规则和基于功能的武器-目标配对的新方法。多武器/目标配对(MWTP)方法是一种加权攻击制导表(WAGT),它包含了将武器系统组合分配给目标的好处。MWTP收敛速度很快——就像具有整数收益的拍卖算法一样——但通常会产生次优解。由于MWTP代表一种启发式算法,因此预计将来会进一步进行性能评估,以验证解决方案的性能和质量。仿真研究表明了所提出的SMMS系统在武器-目标配对和目标跟踪应用中的有效性。在仿真中,假定目标被操作员和/或传感器检测、识别和定位。团队以一种自适应的领导者-追随者的形式移动,以避免任何障碍,并跟踪目标,就好像团队在一个潜在的领域中一样。团队中的每个机器人根据其功能根据武器和目标的类型进行优先级排序,并相应地组成子组。然后,根据机器人与目标的距离和武器类型,在每个子组中选择一个机器人作为leader。子组领导跟踪相对于组领导的位置生成的参考路径。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Semi-autonomous collaborative control for multi-weapon multi-target pairing
This paper focuses on developing a control method for a robotic single-master multi-slave (SMMS) system to cooperatively control mobile agents for multi-weapon multi-target pairing (WTP). Major components of the developed control method are potential field based leader-follower formation, compensation for operator-induced errors, and weapon-target pairings (WTP). A SMMS system has two subsystems, a single master and multi-slave robots. The master robot can transmit operator commands to the multi-slave robots which are a team of mobile manipulators to execute them while sensing environments. The multi-slave robots are divided into subgroups according to the number and types of weapons and targets for optimal effects. Each subgroup has a leader-follower architecture/ formation. The group leader is remotely controlled by a human operator to lead the leaders and followers of the subgroups. The transparency of the SMMS system is adjusted adaptively due to the compensation for operator-induced errors if they are detected. A sensor based auto-switching method is developed as a means to combine formation reconfiguration, collision avoidance, and motion control for reliability and robustness of the system. The WTP method is derived from the proven auction algorithm for a single target and is extended for multi-weapon multi-target cases, which optimizes effect-based weapon-target pairing based on a new heuristic algorithm. This is a novel approach that combines rule-based and function-based weapon-target pairing. The multi-weapon/ target pairing (MWTP) method is a weighted attack guidance table (WAGT), which includes the benefits of assigning weapon system combinations to targets. MWTP converges rapidly - as is the case for auction algorithms with integer benefits - but produces a suboptimal solution in general. Since MWTP represents a heuristic algorithm, further performance evaluation is anticipated in the future to verify the performance and the quality of the solution. A simulation study illustrates the efficacy of the proposed SMMS system for weapon-target pairing and target pursuit applications. In the simulation, the targets are assumed to be detected, identified, and geo-located by the operator and/or sensors. The team moves in an adaptive leader-follower formation to avoid obstacles if any and track targets as if the team was in a potential field. Each robot in the team is prioritized according to its functionality based on the types of weapons and targets, and subgroups are formed accordingly. Then, a robot in each subgroup is selected as the leader based on its proximity to the target and the weapon type. The subgroup leaders track the reference paths generated with respect to the positions of the group leader.
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