海上无人系统集群是未来任务效能发挥的重要保障。目前海上无人装备仿真测试主要集中于对单体感知、决策以及控制算法的测试，尚无海上无人系统集群算法的评价指标体系及训练系统，制约了无人系统集群技术的发展。本文针对无人集群的协同感知、决策、控制算法设计了融合算法测试与训练功能于一体的半实物仿真系统，可提供海洋环境模拟、集群运动机理模拟、障碍物模拟，并通过接入各平台控制器对算法进行高效测试训练，达到优化算法参数的目的。通过半实物仿真试验及实装试验证明了本系统的有效性。
The swarm of unmanned marine vehicle(UMVs) plays an important role in improving battle effectiveness. At present, the simulation tests of UMVs focus on individual observation, decision-making and control algorithms. The lack of evaluation system and training system restricts the development of UMVs' technology. In this paper, a semi-physical simulation system that integrating collaborative perception, decision, and control algorithm test and training function is proposed, which can provide simulation of marine environment, motion mechanism, obstacles. It can also access each platform's controller to test and train its algorithm's parameters effectively. In the end, a semi-physical simulation and installation test is done to prove its effectiveness.
2022,44(24): 96-99 收稿日期：2022-07-05
DOI：10.3404/j.issn.1672-7649.2022.24.020
分类号：U674.77
作者简介：曾晨(1989-),男,博士研究生,工程师,研究方向为舰船智能技术及应用
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