Limited intervention collaborative decision-making of MAV/UAV team based on FCM

In order to exert the autonomy of Unmanned Aerial Vehicle's (UAV) decision-making, based on fuzzy cognitive map (FCM), UAV's autonomous decision-making model is established. However, when UAV cannot make certain decision because of self-limiting, Manned Aerial Vehicle (MAV) will make intervention. Thus this paper designs three levels of limited intervention collaborative decision-making mechanism. By adding auxiliary decision information or adjusting decision threshold, MAV can help UAV make a new decision. This type of decision-making mechanism not only plays full use of UAV's autonomy, but also reduces MAV's control burden, decreases the frequent communication in decision-making process, which is very suitable for increasingly complex battlefield environment. Simulation indicates that limited intervention collaborative decision-making of MAV/UAV team is reasonable and feasible.