Research On Mission Planning Method For Man-in-loop Unmanned Underwater Vehicle Command And Control

The problem on mission planning for unmanned underwater vehicle(in short,UUV)with human-in-loop command and control,means that before the UUV preforming the missions,the commander issue mission objectives,and the UUV command and control system calls the time series planning algorithm and the spatial path planning algorithm to complete the operation of UUV command and control mission planning,and then downloads the planning results to the UUV’s on-board mission control system at the format of XML document to perform missions autonomously.During the period of UUV mission operation,due to so many uncertain influencing factors such as the events about environmental,UUV platform health or mission updating elements,under condition of communication accessibility,the UUV command and control system can use monitoring information to complete threat assessments of uncertain events,and completes the UUV command and control mission re-planning for the uncertain events that affecting UUV’s security,and then downloads the re-planning results to the UUV on-board computer systems to operate mission interventions,which make sure the re-planning results meeting the requirements of mission objectives as far as possible under the premise of ensuring UUV’s security.In this paper,UUV as the mission planning(re-planning)object,and the mission elements executed by UUV as the target traction.This paper completes the following research mainly from several aspects: the XML text description of the mission elements,the method design for command and control mission planning and re-planning,the simulation platform construction on mission(re-)planning for UUV human-in-loop command and control:Firstly,using XML language to normalize the UUV mission elements.For the problems that the general text description is less compatible with the operating platform and the complexity of complex mission elements description is not conducive to computer analysis and recognition,using XML scientific description language to design a standardized,scientific and uniform define method of the command and control mission elements.XML has the advantages of structural scientific marking,which makes it have excellent cross-platform interactivity,data storage and element analysis ability.It can better meet the data structure description requirements of the complex command and control mission elements.In addition,it facilitates the interaction and storage of the mission elements that human-in-loop during the period of UUV command and control mission operation.Combined with the simulation case of regional reconnaissance mission,giving the XML definition and description examples of UUVcommand and control mission elements.Secondly,for the time series planning and spatial path planning requirements of UUV with human-in-loop command and control missions,designing time series programming based on improved ant colony algorithm,in the algorithm,the state transition probability and pheromone renewal strategy are designed to make the time scheduling scheme of UUV command and control missions approximately optimal.After determining the operation order of missions,the improved genetic algorithm is used for spatial path planning of missions,in the algorithm,onedimensional coding method,fitness function,elite selection strategy,and adaptive crossover and mutation probability are designed to plan the approximate optimal path for UUV command and control missions.The commander monitors the planning results in real time.After the initial planning is completed,the commander confirms that the planning results are correct and then downloads to UUV,and the UUV performs missions according to the planning results.Thirdly,during the period of UUV mission operation,due to the changes of the mission environment,mission elements or UUV state,there will be many uncertain events,which are mainly divided into three categories: uncertainty of marine environment,uncertainty of UUV state and uncertainty of commander intervention.The influence of uncertain events,the detection and recognition of events,the threat assessment of events and the processing methods of events are mainly analyzed and studied.According to the threat and influence degree of the event,the UUV command and control system calls the time series planning and spatial path planning algorithm to complete the mission re-planning,and then transmits the planning results to UUV,and UUV continues to carry out missions.Finally,constructs simulation experiment platform based on the QT development environment,gives the simulation experiments on mission planning and re-planning for UUV with human-in-loop command and control,and conducts simulation based on the time series planning and spatial path planning algorithm of UUV command and control missions to verify the effectiveness of the algorithm.Then,according to the threat degree of uncertain events,verifies the re-planning method of command and control missions,in the same time,the validity of the experimental platform is also proved.