无人机人机协作控制权限分配方法研究摘要随着技术的不断发展，复杂建模和决策算法都得到了长足的进步，这两种进步的进步又推动了无人机指挥控制系统的发展，使其更加完善，决策更加智能，但是部分问题依旧存在耗时长、难处理的情况，而目前启发式的方法并不能提供满意解，在这种情况下，就需要人、机分别完成不同的决策功能，以适当的自动化等级来实现决策过程，可以充分结合人的和自动化系统各自的优势。本文将从人机能力优势比较，系统自动化等级划分，决策分配原则和评估准则，决策分配方法步骤等无人机人机协作控制分配相关问题进行研究，在决策分配过程中主要采用ULMADM(UncertainLinguisticMultipleAttributeDecisionMaking)方法进行不确定信息的集结和处理，进而计算得出对应的自动化等级。关键词：自动化等级，无人机决策分配，人机协同，ULMADMResearchonControlRightsAllocationMethodforUAVMan-MachineCooperativeControlAbstractWiththerapiddevelopmentofglobalscienceandtechnology,theprogressofdecision-makingalgorithmandthedevelopmentofcomplexmodelingtechnologyhavepromotedtheoptimizationofdecision-makingfunctionofUAVcommandandcontrolsysteminvaryingdegrees.However,someproblemsarestilltime-consuminganddifficulttodealwith.Atpresent,meanwhile,heuristicmethodscannotprovidesatisfactorysolutions.Inthiscase,peopleandmachinesarerequiredtocompletedifferentdecision-makingfunctionswithappropriateautomationlevels.Itcanfullycombinetheadvantagesofhumanandautomationsystems.Inthispaper,therelativeproblemsofUAVman-machinecooperativecontrolallocation,suchasthecomparisonofhumancapabilityadvantages,theclassificationofsystemautomationlevels,theprinciplesandevaluationcriteriaofdecision-makingallocation,themethodandstepsofdecision-makingallocation,willbestudied.Intheprocessofdecisionallocation,ULMADMmethodismainlyusedtoaggregateandprocessuncertaininformation,andthencalculatethecorrespondingautomationlevel.Keywords：Automationlevel,UAVDecisionAllocation,Man-machinecooperation,ULMADM摘要.....................................................................................................................................IAbstract..............................................................................................................................II1绪论..................................................................................................................................11.1研究背景及目的...................................................................................................11.2研究意义...............................................................................................................21.3国内外研究现状...................................................................................................31.4研究内容...............................................................................................................82权限分配方法研究..........................................................................................................92.1人机能力优势比较...............................................................................................92.2分配原则研究.....................................................................................................122.3权限分配评估准则.............................................................................................182.4自动化等级确定.................................................................................................222.5基于UEWAA算子和ULHA...
