智能虚拟维修环境多Agent协作机制

摘要

To solve the multi-Agent cooperation problem in the intelligent virtual maintenance environment (IVTE),a collaborative operation system based on a novel task driven method is proposed.In this system,a sense-plan-action (SPA) model and the parametric expression are presented to quantize the multi-Agent cooperation process.To solve the problem of operational logical relationship,the cooperation process is transformed to time-ordered information,attribute calculus and objective decision.Finally,these methods mentioned above are used to a virtual cooperation training system of certain wheeled equipment.This system realizes the visualization for collaborative operation and also illustrates the effectiveness of the proposed method.%针对智能虚拟维修环境中多Agent协同作业求解问题,提出一种基于任务驱动方法的协同虚拟维修训练体系框架,并构建基于该框架下的协作感知-规划-行为(sense-plan-action,SPA)关系模型,在该模型中使用参数化表达方法来量化多Agent协同作业过程,并将任务求解过程转化为时序信息、属性状态演变、目标决策等多通道框架驱动协同作业的实现,解决了多Agent协同作业的逻辑关系问题.最后,将该方法应用于轮式工程机械协同虚拟维修仿真过程中,实现了协同虚拟维修可视化,验证了任务驱动方法在协同虚拟训练中的可行性.