大模型赋能的无人艇集群区域覆盖实时决策方法

A real-time decision method for USV swarm area coverage empowered by large language models

  • 摘要: 【目的】针对无人艇集群在开放环境执行长航时区域覆盖任务过程中在线自主任务动态分配和规划能力不足的问题,提出基于大语言模型的无人艇集群区域覆盖实时决策和协同控制方法,有效增强无人艇集群的全过程任务规划和实时自主决策能力。【方法】本方法提出了一种长时序任务多层次分解框架。本框架通过嵌入大语言模型,使无人艇集群能动态解释自然语言命令,并自主生成高效和无冲突的路径。对于长时序任务中的不确定因素,设计基于动态提示词生成的多层评估和反馈机制,实时调整任务分配和路径规划以响应突发情况。最后,以海上绕群岛巡逻的场景为例,通过仿真实验验证了所提无人艇集群区域覆盖实时决策方法的有效性,并对比了不同大模型的实际效果。【结果】结果显示,所提方法在复杂长时序多任务场景下的平均成功率达82%以上,实时响应和处置异常情况的成功率达70%以上。【结论】实验结果表明了大模型在增强无人艇集群规划能力方面的有效性,为完成动态场景中多无人艇的长航时任务提供了兼具安全性和可靠性的新方法。

     

    Abstract: Objectives To address the limited online autonomous task allocation and planning capabilities of unmanned surface vehicle (USV) swarms during long-duration area coverage missions in open environments, this paper proposes a real-time decision-making and cooperative control method for USV swarms enabled by large language models (LLMs). The method aims to enhance full-process mission planning and real-time autonomous decision-making capabilities of USV swarms. Methods A hierarchical decomposition framework for long-horizon tasks is introduced. By embedding large language models, the framework enables the USV swarm to dynamically interpret natural language commands and autonomously generate efficient, conflict-free paths. To manage uncertainties in long-duration missions, a multi-level evaluation and feedback mechanism based on dynamic prompt generation is designed, allowing real-time adjustments to task allocation and path planning in response to unexpected events. The proposed method is validated through simulation experiments in a maritime island-patrol scenario, and its performance is compared across different LLMs. Results The experimental results demonstrate that the proposed method achieves an average task success rate exceeding 82% in complex, long-horizon, multi-task scenarios. The success rate for real-time response and handling of abnormal situations exceeds 70%. Conclusions The findings confirm the effectiveness of large language models in enhancing the planning capabilities of USV swarms, providing a safe and reliable approach for accomplishing long-duration missions in dynamic environments.

     

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