Adaptive autonomy control structure and algorithm for USV under uncertainty

摘要

In view of the problem of realizing adaptive autonomy of unmanned surface vehicle(USV)under physical environment with uncertainty,an adaptive autonomy control structure including autonomy level decision algorithm is investigated to solve it.In this structure,the autonomy levels are defined,the evaluation and management mechanism are built,and an algorithm of autonomy level decision based on multi-attribute decision making theory is included.Finally,the navigation simulation experiments are implemented to illustrate the rationality and effectiveness of the control structure and the algorithm.The experiments also show that the adaptive autonomy has the practicality and improves human-robot system's planning performance.