SELECTION OF MULTI-AGENT ARCHITECTURE WHEN DEVELOPING A CONTROL SYSTEM FOR AN AUTONOMOUS UNDERWATER VEHICLE

  • L.A. Martynova JSC Concern Central Research Institute Elektropribor
Keywords: Autonomous underwater vehicle, multi-agent system architecture, control system, non-functional requirements, algorithm, tag distribution

Abstract

The problem of choosing the most appropriate architecture of a multi-agent control system of an autonomous underwater vehicle is considered, since the functioning of the entire vehicle as a whole depends on the choice of control system architecture. The control systems of modern com-plex multifunctional autonomous underwater vehicles are, overwhelmingly, multiagent systems, as a result of which the task arises of choosing the most suitable architecture of a multiagent control system from the wide variety of architecture designs developed to date, mainly in the economic and manufacturing sectors. The aim of the work was to substantiate the choice of a variety of mul-ti-agent architecture from the wide variety of multi-agent architectures that would most effectively ensure the functioning of an autonomous underwater vehicle. For this purpose, the distinguishing features of multi-agent systems from systems with actors and objects are considered. Various ar-chitectures of multi-agent systems are considered, features of marine robotics are analyzed, and an example of the use of multi-agent architecture in the control system of a foreign complex multi-ton autonomous underwater vehicle ZT-AUV is given. As a result of the analysis, it was found that the choice of the most suitable control system architecture is determined by the specific tasks for which the designed autonomous underwater vehicle is intended. The need to successfully solve the problems facing an autonomous underwater vehicle allowed the formation of criteria for choosing the most suitable type of architecture for an autonomous underwater vehicle. It is proposed to use non-functional requirements as such criteria in the form of the following criteria: the work of a multi-agent system in real time, coordination of agent functioning, predictability of their behavior, agent communication among themselves, adaptation of agent behavior to changing external and the internal environment, fault tolerance and scalability of a multi-agent system. In addition, a mathematical apparatus is defined that allows one to obtain a unified qualitative and quantitative assessment based on the results of processing the results of the selection criteria. Unified assess-ments are then used to conduct a comparative analysis when choosing the most appropriate multi-agent system architecture. To form a single assessment, it is proposed to use the Label Propaga-tion algorithm. It is described how to use it, it is necessary to form a graph of goals and subgoals, and then, according to certain rules, sequentially evaluate the considered alternative varieties of multi-agent system architectures. As an example, the results of a comparative analysis of various varieties of architectures of multi-agent control systems of an autonomous underwater vehicle based on their qualitative assessments are presented. Recommendations are developed on the use of the approach proposed in the work to the selection of the most suitable architecture for the ap-paratus in question.

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Published
2020-05-02
Issue
No 7 (2019)
Section
SECTION I. MODELS, METHODS AND TECHNOLOGIES OF INTELLIGENT MANAGEMENT