无人机人机协作控制权限安排方法研究摘要随着技术的不断进展，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进展，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中意解，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，决策安排原则和评估准则，决策安排方法步骤等无人机人机协作控制安排相关问题进行研究，在决策安排过程中主要采纳ULMADM(Uncertain Linguistic Multiple Attribute Decision Making)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，无人机决策安排，人机协同，ULMADMResearch on Control Rights Allocation Method for UAV Man-Machine Cooperative ControlAbstractWith the rapid development of global science and technology, the progress of decision-making algorithm and the development of complex modeling technology have promoted the optimization of decision-making function of UAV command and control system in varying degrees. However, some problems are still time-consuming and difficult to deal with. At present, meanwhile, heuristic methods can not provide satisfactory solutions. In this case, people and machines are required to complete different decision-making functions with appropriate automation levels. It can fully combine the advantages of human and automation systems. In this paper, the relative problems of UAV man-machine cooperative control allocation, such as the comparison of human capability advantages, the classification of system automation levels, the principles and evaluation criteria of decision-making allocation, the method and steps of decision-making allocation, will be studied. In the process of decision allocation, ULMADM method is mainly used to aggregate and pr...
