Distributed Situation Awareness Consensus Optimization of Unmanned Group Systems
Huaxin Qiu, Xingshuo Hai, Changhao Sun, Qingrui Zhou · 2023
The situation awareness consensus is a critical and challenging problem for an autonomous and collaborative unmanned group system. The current situation awareness consensus model is based on a centralized framework, which is not suitable for large-scale unmanned group systems. In this paper, a distributed situation awareness consensus model is established, which includes the preference expression in the individual perception stage, and the preference adjustment in the system collaboration stage. On such a basis, a novel distributed situation awareness consensus optimization algorithm is proposed to coordinate a heterogeneous unmanned group of individuals with different intelligence levels to achieve a high-quality situation awareness consensus. The condition for an unmanned group system to reach a reasonable situation awareness consensus is given based on the LaSalle invariant principle. The comparative simulations are carried out to show the feasibility, validity, and superiority of our proposed algorithm.