一个基于多主体通信的船舶避碰协商模型

在船舶避碰多Agent决策支持系统(SCA-MADSS)平台上,开发一个基于多Agent通信的船舶避碰协商决策模型,从而为解决船舶避碰问题提供了一种新的方法。在Speech Act理论的基础上设计了Agent间的通信原语及其状态转移图,并根据实际避让操作需要确定了通信格式和通信关键字。基于Agent通信机制和多Agent规划方法,设计了一个以互利为目标,以合作为形式,以协商为手段的船舶避碰决策模型及其规划算法。试验结果表明该模型可以有效地减少避让过程中的不协调性,所获得的避让方案更为合理与经济。

A Negotiation Model for Ship Collision Avoidance Based On Multi-Agent Communication

A negotiation model for ship collision avoidance based on multi-agent communication is developed on the platform of multi-agent decision support system SCA-MADSS. On the basis of Speech Act theory, the communica-tion primitive and their state transfer graph are designed. The communication formats and key words are also defined according to the need of practical operations. A negotiation model for ship collision avoidance is created considering the mutual benefit goal and cooperation manners, and the negotiation multi-agent planning algorithm is also pro-posed. The experimental results illustrate that the model can reduce ship's conflictive actions effectively and make the collision avoidance plan more rational and economic.