无人机人机协作控制权限分配方法研究

北京航空航天大学毕业设计（论文）Research on Control Rights Al location Method for UAVMan-Machine Cooperative ControlAbstractWith the rapid development of global science and technology,the progress ofdecision-making algorithm and the development of complex modeling technology havepromoted the optimization of decision-making function of UAV command and controlsystem in varying degrees.However,some problems are still time-consuming and difficultto deal with.At present,meanwhile,heuristic methods can not provide satisfactory solutions.In this case,people and machines are required to complete different decision-makingfunctions with appropriate automation levels.It can fully combine the advantages of humanand automation systems.In this paper,the relative problems of UAV man-machinecooperative control allocation,such as the comparison of human capability advantages,theclassification of system automation levels,the principles and evaluation criteria ofdecision-making allocation,the method and steps of decision-making allocation,will bestudied.In the process of decision allocation,ULMADM method is mainly used toaggregate and process uncertain information,and then calculate the correspondingautomation level.Key words:Automation level,UAV Decision Allocation,Man-machine cooperation,ULMADM