CAJ | 학술논문

针对无人平台系统开放性和安全性的需求，提出了一种开放式模块化的混合体系结构。首先，该结构在总体上采用分层结构，各层中定义相关的节点，实现系统功能模块化；其次，采用分等级的智能决策系统，将无人平台系统的行为分解为反射行为和目的行为，反射行为保证系统运行时无人平台的安全性，目的行为实现连续自主导航；最后，定义了中间层消息协议，以标准的消息头和自定义的消息体实现不同节点之间的通信。实验结果表明，该体系结构能够快速切换反射行为和目的行为，提高了无人平台在不同场景下的安全性；同时，各功能节点能够有效地进行信息交互，满足了系统开放性要求。
침대무인평태계통개방성화안전성적수구，제출료일충개방식모괴화적혼합체계결구。수선，해결구재총체상채용분층결구，각층중정의상관적절점，실현계통공능모괴화；기차，채용분등급적지능결책계통，장무인평태계통적행위분해위반사행위화목적행위，반사행위보증계통운행시무인평태적안전성，목적행위실현련속자주도항；최후，정의료중간층소식협의，이표준적소식두화자정의적소식체실현불동절점지간적통신。실험결과표명，해체계결구능구쾌속절환반사행위화목적행위，제고료무인평태재불동장경하적안전성；동시，각공능절점능구유효지진행신식교호，만족료계통개방성요구。
Aiming at the requirements of openness and safety for the unmanned platform system, a hybrid architecture for unmanned platform system was proposed. Firstly, this architecture modularized the system function by adopting hierarchical structure with functional nodes in each level. Then, a hierarchical intelligent decision approach was proposed by classifying the system behavior into reflecting behavior and goal behavior, the reflecting behavior could guarantee security and the goal behavior could navigate the platform continuously. At last, the problem of communication between different nodes in the architecture was solved by defining a generic message protocol. The message protocol included the standard message header and custom messages. Experimental results show that the proposed architecture can improve security by alternating reflecting behavior and goal behavior quickly in different situations. Meanwhile, the internal communications can perform efficiently which satisfying the demand of openness.