Rapid Prototype Simulation of Contract Net-based AUV Group Cooperation System by Using Simulink/Stateflow
Kang Feng-ju · Fire Control and Command Control · 2013
AUV group cooperative system based on contract net is a hybrid system,which includes not only contract net-based task allocation model derived by the discrete event,but also the kinematical model of AUV.A rapid prototyping and simulation method for contract net-based AUV group cooperative system by means of Simulink/Stateflow is proposed.Hybrid simulation of contract net-based task allocation model by using Stateflow and AUV kinematical model by using Simulink is realized,and the comparisons between with and without contract net are given.Simulation results show that this method is simple and quick to simulate the cooperative process of AUV group system.It's an effective mean to validate the task allocation method and analysis performance.