Research On Communication Mechanisms Of AUVs Based On Multi Agents

With the presentation of the conception of agent, the research and application of MAS are widely living in every territory. At present, Multi-AUV System is an important application of MAS. Because of the limitation of bandwidth, the communication among AUVs is an extraordinary complex problem. In order to overcome the uncertainty, which is brought by the dynamic and complex underwater environment, it requires AUVs can supply one kind of coordination and cooperation along with real time planning mechanism that is not dependent on communication completely.Firstly, this thesis analyzed the reason and process of agent interaction behaviors from the angle of mental states model. Then, the Hierarchical Model on AUV Communication (HMAC) is set up on the basis of studying the characteristics of agent interaction behaviors and some notes on comprehending HMAC are discussed.Secondly, after introducing the Speech-act theory, the performatives, the syntaxes, the semantics and the applications of KQML are described. To satisfy the requirement of AUV communication, AUV-Agent Communication Language (A~2CL) is proposed. Then, the syntaxes and semantics of A~2CL are defined and the process of mental states transition is described.In the following, taking cooperative pursuit of AUVs as the basic task, the thesis adopts the method of broadcast communication combined with sensor perceiving and employs belief reasoning technique as an useful complementarity for AUV communication mechanism to build the mental states model of individual AUV and group AUV respectively. Joint commitments mechanism based on ability is also brought forward to discuss the formation of pursuit group. In order to cut down the communication traffic in the process of group formation, the thesis has an improvement for traditional contract net protocol, social norm mechanism is embodied in the improvement process and a limited contract net protocol based on social norm has been developed.Finally, a simulation system is built to realize the multi-robot system. And the validity of the interaction strategies and protocols presented in the thesis is verified further.