摘要
基于合同网的AUV群体协作系统是一个混合系统,既包括合同网任务分配这一离散事件驱动模型,又包括AUV运动学模型。在研究合同网任务分配方法的基础上,提出了基于Simulink/Stateflow的AUV群体协作合同网快速原型的建立与仿真方法,实现了基于Stateflow的合同网任务分配模块与基于Simulink的AUV运动学模块的混合仿真,并给出了有、无合同网的仿真对比。仿真结果表明,该方法能够简单、快速和形象地模拟AUV系统的协同作业过程,是验证任务分配方法和分析效能的有效手段。
AUV group cooperative system based on contract net is a hybrid system, which includes not only contract net-based task allocation model derived by the discrete event, but also the kinematical model of AUV. A rapid prototyping and simulation method for contract net-based AUV group cooperative system by means of Simulink/Stateflow is proposed. Hybrid simulation of contract net- based task allocation model by using Stateflow and AUV kinematical model by using Simulink is realized, and the comparisons between with and without contract net are given. Simulation results show that this method is simple and quick to simulate the cooperative process of AUV group system. It＇s an effective mean to validate the task allocation method and analysis performance.
出处
《火力与指挥控制》
CSCD
北大核心
2013年第2期26-30,共5页
Fire Control & Command Control
基金
国家重点实验室基金资助项目(9140C2305041001)
作者简介
郝莉莉（1985-），女，河南巩义人，博士。研究方向：水下航行器路径规划，系统仿真。
