Ground-air cooperative unmanned cluster search platform for unknown environment

An unknown environment and collaborative technology, applied in the direction of three-dimensional position/channel control, etc., can solve the problem of high application difficulty, achieve good scalability, reduce work pressure, and achieve high degree of coordination

Pending Publication Date: 2022-08-09
BEIHANG UNIV
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  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of this, the present invention provides a ground-air collaborative unmanned swarm search platform for unknown environments, with the purpose of solving the problem of high difficulty in the practical application of multi-platform collaborative search systems in the prior art

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  • Ground-air cooperative unmanned cluster search platform for unknown environment
  • Ground-air cooperative unmanned cluster search platform for unknown environment
  • Ground-air cooperative unmanned cluster search platform for unknown environment

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Embodiment Construction

[0058] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0059] The embodiment of the present invention discloses a ground-air cooperative unmanned swarm search platform for unknown environments, based on ground unmanned vehicle swarms, aerial unmanned aerial vehicle swarms and communication networking. The car is equipped with an intelnuc as an onboard computer. Powered by a lithium battery, the battery life is about 3 to 4 hours. The omnidirectional wheel structure is adopted to facilita...

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Abstract

The invention discloses a ground-air cooperative unmanned cluster search platform for an unknown environment. The ground-air cooperative unmanned cluster search platform comprises a fusion map construction module, a positioning navigation module, a cooperative exploration module, an unmanned aerial vehicle formation module and a coverage monitoring module, the method can adapt to various complex environments through collaborative mapping and autonomous positioning capability of the ground cluster and the air cluster, decomposes a ground-air collaborative search monitoring problem into a ground cluster collaborative search problem and an air cluster collaborative coverage monitoring problem, effectively reduces the working pressure of a single platform through the collaboration of a task level and a motion level, and improves the working efficiency. The synergy degree is high, and the extensibility is good.

Description

technical field [0001] The invention relates to the technical field of unmanned swarm cooperative search, in particular to a ground-air cooperative unmanned swarm search platform facing unknown environments. Background technique [0002] On the one hand, most of the collaborative search systems in the prior art are a single type of multi-platform collaboration (eg, multiple UAVs or multiple unmanned vehicles), and fail to consider the system form of cross-domain and multi-platform. In fact, the collaborative operation of cross-domain unmanned platforms can provide a high degree of adaptability to unknown environments that does not exist in a single type of unmanned platform. [0003] On the other hand, the similar collaborative search platforms in the prior art are mostly proposed theoretical frameworks, the modeling of the problem is too simple and no experimental verification is carried out, and the key factors (positioning quality, positioning quality, mapping ability, s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 安宁波钱浩程敏凯王琦少王青云
Owner BEIHANG UNIV
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