| 引用本文: | 张子迎,吕骏,徐东,等.能量均衡的围捕任务分配方法.[J].国防科技大学学报,2019,41(2):107-114,184.[点击复制] |
| ZHANG Ziying,LYU Jun,XU Dong,et al.Method of capturing task allocation based on energy balance[J].Journal of National University of Defense Technology,2019,41(2):107-114,184[点击复制] |
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| 能量均衡的围捕任务分配方法 |
| 张子迎, 吕骏, 徐东, 孟宇龙, 冯光升, 张朦朦 |
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(哈尔滨工程大学 计算机科学与技术学院， 黑龙江 哈尔滨 150001)
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| 摘要: |
| 随着水下机器人反围捕策略研究的不断深入，水下机器人围捕变得越来越困难。为此构建一种多层环状伏击围捕模型并设计了基于围捕任务的任务分配方法，使得水下机器人能够充分利用自身的特点更好地完成任务。同时，考虑在围捕过程中随时间推移，系统内能量会出现消耗不均的现象，据此提出一种能量均衡方法平衡系统能量的消耗。实验证明所提出的基于多层环状围捕模型的能量均衡策略任务分配方法能有效提高围捕成功率，延长系统寿命。 |
| 关键词: 水下机器人 围捕 多层环状伏击围捕模型 任务分配 能量均衡 |
| DOI：10.11887/j.cn.201902016 |
| 投稿日期：2018-01-12 |
| 基金项目:国家自然科学基金资助项目（61502118） |
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| Method of capturing task allocation based on energy balance |
| ZHANG Ziying, LYU Jun, XU Dong, MENG Yulong, FENG Guangsheng, ZHANG Mengmeng |
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(Institute of Computer Science and Technology, Harbin Engineering University, Harbin 150001, China)
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| Abstract: |
| With the deepening of the research on anti-encirclement strategy of underwater vehicles, the encirclement of underwater vehicles has been more and more difficult. For this reason, a multi-layer annular ambush capture model was constructed and a task assignment method based on the capture task was designed, so that the underwater vehicle can make full use of its own characteristics to complete the task better. At the same time, considering that the energy consumption in the system is uneven with the passage of time in the capture process, an energy balance method was proposed to balance the energy consumption of the system. Experiments show that the proposed task allocation method based on the energy balance strategy of multi-layer annular capture model can effectively improve the success rate of capture and prolong the life of the system. |
| Keywords: automatic underwater vehicles capture multi-layer annular ambush capture model task allocation energy balance |
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