基于不确定事件威胁度评估的UUV任务重规划

doi:10.11959/j.issn.2096-6652.2022049

智能科学与技术学报 ›› 2022, Vol. 4 ›› Issue (4): 493-502.doi: 10.11959/j.issn.2096-6652.2022049

基于不确定事件威胁度评估的UUV任务重规划

曹翔¹, 孙长银¹^,²

¹ 安徽大学人工智能学院，安徽合肥230601
² 东南大学自动化学院，江苏南京 210096

修回日期:2022-11-06 出版日期:2022-12-15 发布日期:2022-12-01
作者简介:曹翔（1981- ），男，博士，安徽大学人工智能学院副教授，主要研究方向为水下机器人控制、多水下机器人协作等
孙长银（1975- ），男，博士，安徽大学党委常委、副校长，二级教授、博士生导师，自主无人系统技术教育部工程中心主任。中国高等教育学会科技服务专家指导委员会副主任，中国自动化学会会士、常务理事、副秘书长、人工智能与机器人教育专委会主任，《智能科学与技术学报》副主编。主要研究方向为自主无人系统协同控制、智能控制理论及其应用、非线性系统分析与优化、模式识别等
基金资助:
国家自然科学基金资助项目(61773177);国家自然科学基金资助项目(61921004);国家自然科学基金资助项目(U1713209);安徽省高校协同创新资助项目(GXXT-2021-010);江苏省自然科学基金资助项目(BK20171270)

UUV mission re-planning based on threat assessment of uncertain events

Xiang CAO¹, Changyin SUN¹^,²

¹ School of Artificial Intelligence, Anhui University, Hefei 230601, China
² School of Automation, Southeast University, Nanjing 210096, China

Revised:2022-11-06 Online:2022-12-15 Published:2022-12-01
Supported by:
The National Natural Science Foundation of China(61773177);The National Natural Science Foundation of China(61921004);The National Natural Science Foundation of China(U1713209);The University Synergy Innovation Program of Anhui Province(GXXT-2021-010);The Natural Science Foundation of Jiangsu Province(BK20171270)

摘要/Abstract

摘要：

无人水下航行器（UUV）的任务规划直接关系到水下作业的效率。由于水下环境复杂，不确定事件频发，有时UUV按照最初的规划很难完成任务。针对UUV任务规划问题，提出基于不确定事件威胁度评估的UUV任务重规划策略。首先，UUV根据任务点的分布进行初始任务规划，采用自组织网络算法为UUV规划访问多任务点的时间顺序及访问任务点的最短路径。其次，判断 UUV 执行任务过程中出现的不确定事件类型，并转换为贝叶斯网络的形式。最后，利用贝叶斯网络对不确定事件的威胁度进行评估。如果威胁度大于阈值，则 UUV 进行任务重规划；否则，UUV 按照初始规划继续执行任务。在多种不确定事件场景中进行任务规划仿真，结果显示所提的算法能够保证UUV作业的安全，且提高了任务的完成率。

关键词: 不确定事件, 威胁度评估, UUV, 任务重规划, 贝叶斯网络

Abstract:

The mission planning of unmanned underwater vehicles (UUV) is directly related to the efficiency of underwater operations.Due to the complex underwater environment and frequent uncertain events, it is sometimes difficult for UUV to complete the mission according to the initial plan.Aiming at the problem of the UUV mission planning, a mission re-planning strategy based on the threat assessment of uncertain events was proposed.Firstly, the UUV performed initial mission planning according to the distribution of mission points.The self-organizing map algorithm was used to plan the time sequence of accessing multi-mission points and the shortest path for the UUV to visit the mission points.Then, the types of uncertain events were determined in the process of executing missions by the UUV and converted into the form of a Bayesian network.Finally, the Bayesian network was used to evaluate the threat degree of uncertain events.If the threat degree was greater than the threshold, the UUV performed mission re-planning.Otherwise, the UUV continued to perform the mission according to the initial plan.The simulation results of mission planning in a variety of uncertain event scenarios showed that the proposed algorithm could ensure the safety of UUV operations and improve the mission completion rate.

Key words: uncertain events, threat assessment, UUV, mission re-planning, Bayesian network

中图分类号:

TP242.6

曹翔,孙长银. 基于不确定事件威胁度评估的UUV任务重规划[J]. 智能科学与技术学报, 2022, 4(4): 493-502.

Xiang CAO,Changyin SUN. UUV mission re-planning based on threat assessment of uncertain events[J]. Chinese Journal of Intelligent Science and Technology, 2022, 4(4): 493-502.

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参考文献 24

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能量	障碍物	海流	安全概率	威胁概率
充足	安全	强烈	0.25	0.75
		轻微	0.85	0.15
	危险	强烈	0.15	0.85
		轻微	0.25	0.75
匮乏	安全	强烈	0.12	0.88
		轻微	0.15	0.85
	危险	强烈	0	1
		轻微	0.05	0.95

时间点	安全概率	威胁概率	威胁等级
1	1	0	1
2	1	0	1
3	1	0	1
4	1	0	1
5	0.9	0.1	1
6	0.88	0.12	1
7	0.75	0.25	1
8	0.79	0.21	1
9	0.81	0.19	1
10	0.73	0.27	1
11	0.89	0.11	1
12	0.91	0.09	1
13	1	0	1
14	1	0	1
15	1	0	1

时间点	安全概率	威胁概率	威胁等级
1	1	0	1
2	1	0	1
3	0.63	0.37	1
4	0.42	0.58	2
5	0.39	0.61	2
6	0.75	0.25	1
7	0.41	0.59	2
8	0.43	0.57	2
9	0.71	0.29	1
10	0.68	0.32	1
11	0.55	0.45	1
12	0.58	0.42	1
13	0.73	0.27	1
14	1	0	1
15	1	0	1

时间点	安全概率	威胁概率	威胁等级
1	0.85	0.15	1
2	0.81	0.19	1
3	0.78	0.22	1
4	0.84	0.16	1
5	0.63	0.37	1
6	0.42	0.58	2
7	0.38	0.62	2
8	0.49	0.51	2
9	0.71	0.29	1
10	0.85	0.15	1
11	0.89	0.11	1
12	0.91	0.09	1
13	0.95	0.05	1
14	0.96	0.04	1
15	0.98	0.02	1

时间点	安全概率	威胁概率	威胁等级
1	0.95	0.05	1
2	0.87	0.13	1
3	0.82	0.18	1
4	0.71	0.29	1
5	0.48	0.52	2
6	0.32	0.68	2
7	0.47	0.53	2
8	0.62	0.38	1
9	0.45	0.55	2
10	0.38	0.62	2
11	0.46	0.54	2
12	0.73	0.27	1
13	0.85	0.15	1
14	0.98	0.02	1
15	0.98	0.02	1

基于不确定事件威胁度评估的UUV任务重规划

UUV mission re-planning based on threat assessment of uncertain events

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参考文献 24

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算法	碰撞次数/次	完成任务次数/次
市场机制算法	16	75
生物启发神经网络算法	9	88
本文算法	0	100

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