Unmanned platform collaborative task planning simulation verification system and verification method
By designing a collaborative task planning simulation verification system for unmanned platforms, using human-computer interactive interface, ground unmanned platform controller and scene presentation simulator, the problem of ground unmanned platform formation advancement and collaborative reconnaissance tasks in the existing technology, which lacks low-cost simulation tests, is solved, and the system is flexible and efficient task verification is achieved.
Patent Information
- Application Number
- CN202410417610.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-09
- Publication Date
- 2025-03-04
AI Technical Summary
The existing technology lacks technical means to simulate and test the formation of ground unmanned platform formations and coordinated reconnaissance tasks at low cost, and it is difficult to effectively verify the coordinated task planning capabilities between multiple ground unmanned platforms.
A unmanned platform collaborative task planning simulation verification system is designed, including a human-computer interaction interface, a ground unmanned platform controller and a scene presentation simulator. Data interaction is performed through ROS messages, and simulation tests are supported for formation advancement and collaborative reconnaissance tasks.
It realizes the overall operation process and key technical capabilities of verifying formation maneuver tasks and collaborative reconnaissance tasks under low cost conditions, reduces the manufacturing cost, airspace usage cost and test verification cost of unmanned platforms, and the system flexibly adapts to the increase and decrease of nodes.
Smart Images
Figure CN119558024A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of collaboration and simulation verification, and in particular to an unmanned platform collaborative task planning simulation verification system and a verification method. Background Art
[0002] Collaborative mission planning for ground unmanned platforms refers to the formulation of a mission plan for each platform to implement a series of actions to complete collaborative combat missions. It reflects the high-level organizational form and operating mechanism of the system.
[0003] With the rapid development of unmanned platforms, they are developing from auxiliary combat equipment to main combat equipment, and will become the decisive factor for victory in future wars. For a long time, existing technologies have been committed to the generation of ground unmanned system cluster combat capabilities and accelerating the practical application of ground unmanned autonomous system clusters. Collaborative mission planning is an important research direction of ground unmanned autonomous systems, which is used to promote the coordination between ground unmanned platforms and the coordination between ground unmanned platforms and soldiers, so as to improve the defense, firepower strike, precision strike, and intelligence, surveillance and reconnaissance capabilities of future troops. However, existing technologies lack favorable technical means to conduct low-cost simulation tests on formation advances and collaborative reconnaissance missions. Summary of the invention
[0004] The purpose of the present invention is to provide an unmanned platform collaborative task planning simulation verification system and verification method. By constructing a simulation verification environment for a typical collaborative task planning algorithm, and taking typical tasks such as ground unmanned platform collaborative reconnaissance tasks and formation advance as the driving force, a simulation verification environment for the collaborative task planning algorithm is constructed, which supports simulation testing of formation advance and collaborative reconnaissance tasks, and provides corresponding technical means and technical support for the development of collaborative task planning capabilities among multiple ground unmanned platforms.
[0005] A first aspect of the present invention is to provide an unmanned platform collaborative mission planning simulation verification system, comprising: Human-machine interaction interface, ground unmanned platform controller and scene presentation simulator; data information is exchanged between the human-machine interaction interface, ground unmanned platform controller and scene presentation simulator through robot operating system ROS messages; The human-computer interaction interface is used to set and issue tasks, display status and operate electronic maps; the human-computer interaction interface includes a human-computer interaction module, a formation advance task planning module and a first-level collaborative reconnaissance task planning module; The ground unmanned platform controller includes a plurality of single-platform controllers with the same structure, each of which is a robot operating system ROS system architecture; The scene presentation simulator has a built-in ground unmanned platform model, an environment model and a sensor model, and is used to provide multiple simulation scenarios for simulation verification of the collaborative task planning of the ground unmanned platform; wherein the scene presentation simulator communicates with ROS through a pre-installed plug-in to provide multiple simulation scenarios for simulation verification of the collaborative task planning of the ground unmanned platform; wherein in the collaborative task planning simulation verification system, each of the ground unmanned platform models corresponds to a ground unmanned platform controller.
[0006] Preferably, the tasks being issued include collaborative reconnaissance and formation advance tasks. During the implementation of the task issuance, the task type, task parameters and the ground unmanned platform involved in executing the task are selected through the human-computer interaction interface and then the task data is issued.
[0007] Preferably, the human-machine interaction interface can realize remote control operation. During the realization of the remote control operation, the expected forward speed and yaw angular velocity of the ground unmanned platform are sent through the operation interface.
[0008] Preferably, during the implementation of the status display, the task execution status, the position and trajectory of the ground unmanned platform during movement, and the environmental monitoring image are displayed in digital and graphical forms.
[0009] Preferably, during the implementation of the electronic map operation, OpenStreetMap data and two-dimensional grid map data are loaded, displayed and scaled.
[0010] Preferably, the single-platform controller includes: a sensor data acquisition and processing module, a self-position data acquisition and publishing module, a target point receiving and parsing module, a positioning module, a global path planning module and a local path tracking module; wherein the sensor data acquisition is realized by a plurality of independently arranged sensor nodes; the sensor data acquisition and processing module, the self-position data acquisition and publishing module, the target point receiving and parsing module, the positioning module, the global path planning module and the local path tracking module interact with each other in a data subscription / publishing mode, and the interacted information adopts a standard message format in the robot operating system ROS, and the message includes task reception and status feedback, positioning posture, global path and local tracking path.
[0011] Preferably, the target point receiving and parsing module realizes interaction with the human-computer interaction interface, receives the task type and task parameters and saves them to the local machine, and feeds back the robot's posture information to the human-computer interaction interface; the positioning module adopts an adaptive Monte Carlo method to realize accurate estimation of the robot's posture in the map; the global path planning module plans a collision-free path from the starting state to the target state according to the map and the perception sensor information obtained from the scene presentation simulator; the local path tracking module is used to plan and generate the control quantity for tracking the global path, and send it to the scene presentation simulator to drive the robot model to move.
[0012] Preferably, the scene presentation simulator is implemented based on CoppeliaSim simulation software.
[0013] A second aspect of the present invention is to provide a simulation verification method for unmanned platform collaborative task planning, comprising: S1, input tasks based on the human-computer interaction interface and send them to each execution platform; S2, each execution platform receives the task and executes the task; S3, presenting the scenario of the ground unmanned platform collaborative mission planning simulation verification based on the scenario presentation simulator.
[0014] Preferably, S2 includes: S21, the ground unmanned platform controller receives and analyzes the task data sent by the human-computer interaction interface; S22, the ground unmanned platform controller receives and analyzes the position data and perception sensor information of the ground unmanned platform in the scene published by the scene presentation simulator; S23, performing autonomous navigation planning based on the map, posture data and the perception sensor information to obtain a collision-free path from the starting state to the target state; generating a control amount for tracking the global path based on the collision-free path and sending it to the scene presentation simulator to drive the robot model to move and perform the task.
[0015] Beneficial effects of the verification system and verification method of the present invention: 1. Strong practicability: A collaborative mission planning system simulation verification environment is proposed for the actual use of ground unmanned platforms. It can verify the overall operation process and key technical capabilities of formation maneuvering tasks and collaborative reconnaissance tasks at a relatively low cost, and reduce the manufacturing cost, airspace use cost and test verification cost of a large number of unmanned platforms.
[0016] 2. High flexibility: The system can adapt to the increase or decrease in the number of nodes and seamlessly connect with other nodes; that is, when adding new nodes, the corresponding modules can be easily integrated to achieve system scale and function expansion; 3. Simple operation: The system has a simple use process and is easy to operate, making it convenient for users to use. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0018] Figure 1 A schematic diagram of the architecture of an unmanned platform collaborative mission planning simulation verification system provided according to an embodiment of the present invention.
[0019] Figure 2 A schematic diagram of a task issuing interface provided according to an embodiment of the present invention.
[0020] Figure 3 A schematic diagram of a status display interface provided according to an embodiment of the present invention.
[0021] Figure 4 A schematic diagram showing a simulated military training base scene provided according to an embodiment of the present invention. DETAILED DESCRIPTION
[0022] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0023] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Embodiment 1
[0025] like Figure 1 As shown, this embodiment provides an unmanned platform collaborative task planning simulation verification system, including: A human-machine interaction interface, a ground unmanned platform controller and a scene presentation simulator; the human-machine interaction interface, the ground unmanned platform controller and the scene presentation simulator perform data information exchange through Robot Operating System (ROS) messages; The human-computer interaction interface includes a human-computer interaction module, a formation advance mission planning module, and a first-level collaborative reconnaissance mission planning module, which are used to set and issue missions, status display, and electronic map operations; In this embodiment, the human-computer interaction interface runs under the Ubuntu operating system, which is developed based on the C++ language and the operating environment is Qt Creator.
[0026] The ground unmanned platform controller includes a plurality of single-platform controllers with the same structure, the number of which is determined according to the actual simulation verification workload; wherein each single-platform controller is a ROS system architecture; The scene presentation simulator has built-in ground unmanned platform model, environment model and sensor model, which are used to provide multiple simulation scenarios for simulation verification of collaborative task planning of the ground unmanned platform; wherein in the collaborative task planning simulation verification system, each ground unmanned platform model corresponds to a ground unmanned platform controller.
[0027] As a preferred implementation, the tasks sent include collaborative reconnaissance and formation advance tasks. During the implementation of the task sending, the task type, task parameters and ground unmanned platforms involved in the task are selected through the human-computer interaction interface, and the task data is sent through the send button.
[0028] As a preferred implementation, the human-machine interaction interface can realize remote control operation. During the remote control operation, the desired forward speed and yaw angular velocity of the ground unmanned platform can be sent through the operation interface.
[0029] As a preferred implementation, during the implementation of the status display, the task execution status, the position and trajectory of the ground unmanned platform during movement, and the environmental monitoring image are displayed in digital and graphical ways.
[0030] As a preferred implementation, during the implementation of the electronic map operation, OpenStreetMap data and two-dimensional grid map data are loaded, displayed and scaled.
[0031] As a preferred embodiment, the single-platform controller includes: a sensor data acquisition and processing module, a self-position data acquisition and publishing module, a target point receiving and parsing module, a positioning module, a global path planning module and a local path tracking module; wherein the sensor data acquisition is realized by multiple independently arranged sensor nodes; the sensor data acquisition and processing module, the self-position data acquisition and publishing module, the target point receiving and parsing module, the positioning module, the global path planning module and the local path tracking module interact with each other in a data subscription / publishing mode, and the interacted information adopts the standard message format in ROS, including task reception and status feedback, positioning posture, global path and local tracking path.
[0032] As a preferred implementation, the target point receiving and parsing module implements interaction with the human-computer interaction interface, receives the task type and task parameters and saves them to the local machine, and feeds back the robot's posture information to the human-computer interaction interface; the positioning module adopts an adaptive Monte Carlo method to accurately estimate the robot's posture in the map; the global path planning module plans a collision-free path from the starting state to the target state based on the map and the perception sensor information obtained from the scene presentation simulator; the local path tracking module is used to plan and generate control quantities for tracking the global path, and send them to the scene presentation simulator to drive the robot model to move.
[0033] As a preferred embodiment, the scenario presentation simulator communicates with ROS via a pre-installed plug-in to provide multiple simulation scenarios for simulation verification of the collaborative mission planning of the ground unmanned platform.
[0034] As a preferred embodiment, the scene presentation simulator is implemented based on CoppeliaSim simulation software. The software provides a unified cross-platform open source framework that combines many powerful internal and external libraries that are generally used for robot simulation. CoppeliaSim has strong compatibility with mainstream ROS and Matlab frameworks, and communicates with ROS through pre-installed plug-ins, thereby providing suitable simulation scenarios for algorithm testing and verification. Embodiment 2
[0035] This embodiment provides a simulation verification method for unmanned platform collaborative task planning, including: S1, input tasks based on the human-computer interaction interface and send them to each execution platform; In this embodiment, Figure 2 The following is a diagram of the task delivery interface. Figure 3 The following is a schematic diagram of the status display interface.
[0036] S2, each execution platform receives the task and executes the task; As a preferred embodiment, the S2 includes: S21, the ground unmanned platform controller receives and analyzes the task data sent by the human-computer interaction interface; S22, the ground unmanned platform controller receives and analyzes the posture data and perception sensor information (in this embodiment, laser radar sensor data) of the ground unmanned platform in the scene published by the scene presentation simulator; S23, performing autonomous navigation planning based on the map, posture data and the perception sensor information to obtain a collision-free path from the starting state to the target state; generating a control amount for tracking the global path based on the collision-free path and sending it to the scene presentation simulator to drive the robot model to move and perform the task.
[0037] In this embodiment, the ground unmanned platform controller and the scene presentation simulator exchange data through the / sim_ros_interface node. The / sim_ros_interface node publishes lidar data to the topic / base_scan and the position data of the ground unmanned platform in the map to the topic / odom in the ROS message format.
[0038] S3, presenting the scenario of the ground unmanned platform collaborative mission planning simulation verification based on the scenario presentation simulator.
[0039] In this embodiment, the scene presentation simulator is implemented using CoppeliaSim simulation software, including environmental elements, ground unmanned platform models, and sensor models. In this simulation verification system, a simulated military training base is designed as a test scene, such as Figure 4 As shown, in this scenario, five ground unmanned platforms are set up to carry out formation movement and coordinated reconnaissance mission planning.
[0040] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above embodiments can be implemented by software, or by means of software plus necessary general hardware platforms. Based on such understanding, the technical solutions of the above embodiments can be embodied in the form of software products, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present invention.
[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.
Claims
1. An unmanned platform collaborative mission planning simulation verification system, characterized in that: include: Human-machine interface, ground unmanned platform controller and scene presentation simulator; The human-machine interaction interface, the ground unmanned platform controller and the scene presentation simulator exchange data information through the robot operating system ROS message; The human-computer interaction interface is used to set and issue tasks, display status and operate electronic maps; the human-computer interaction interface includes a human-computer interaction module, a formation advance task planning module and a first-level collaborative reconnaissance task planning module; The ground unmanned platform controller includes a plurality of single-platform controllers with the same structure, each of which is a robot operating system ROS system architecture; The scene presentation simulator has a built-in ground unmanned platform model, an environment model and a sensor model, and is used to provide multiple simulation scenarios for simulation verification of the collaborative task planning of the ground unmanned platform; wherein the scene presentation simulator communicates with ROS through a pre-installed plug-in to provide multiple simulation scenarios for simulation verification of the collaborative task planning of the ground unmanned platform; wherein in the collaborative task planning simulation verification system, each of the ground unmanned platform models corresponds to a ground unmanned platform controller.
2. The unmanned platform collaborative task planning simulation verification system according to claim 1 is characterized in that: The tasks to be issued include collaborative reconnaissance and formation advance tasks. During the implementation of the task issuance, the task type, task parameters and the ground unmanned platform participating in the task are selected through the human-computer interaction interface and then the task data is issued.
3. The unmanned platform collaborative task planning simulation verification system according to claim 1 is characterized in that: The human-machine interaction interface can realize remote control operation. During the realization of the remote control operation, the expected forward speed and yaw angular velocity of the ground unmanned platform are sent through the operation interface.
4. The unmanned platform collaborative mission planning simulation verification system according to claim 1 is characterized in that: During the implementation of the status display, the task execution status, the position and trajectory of the ground unmanned platform during movement, and the environmental monitoring image are displayed in digital and graphical ways.
5. The unmanned platform collaborative mission planning simulation verification system according to claim 1 is characterized in that: During the implementation of the electronic map operation, OpenStreetMap data and two-dimensional grid map data are loaded, displayed and scaled.
6. The unmanned platform collaborative mission planning simulation verification system according to claim 1, characterized in that: The single-platform controller includes: a sensor data acquisition and processing module, a self-position data acquisition and publishing module, a target point receiving and parsing module, a positioning module, a global path planning module and a local path tracking module; wherein the sensor data acquisition is realized by a plurality of independently arranged sensor nodes; the sensor data acquisition and processing module, the self-position data acquisition and publishing module, the target point receiving and parsing module, the positioning module, the global path planning module and the local path tracking module interact with each other in a data subscription / publishing mode, and the interacted information adopts a standard message format in the robot operating system ROS, and the message includes task reception and status feedback, positioning posture, global path and local tracking path.
7. The unmanned platform collaborative mission planning simulation verification system according to claim 6 is characterized in that: The target point receiving and parsing module realizes interaction with the human-computer interaction interface, receives the task type and task parameters and saves them to the local machine, and feeds back the robot's posture information to the human-computer interaction interface; the positioning module uses the adaptive Monte Carlo method to accurately estimate the robot's posture in the map; the global path planning module plans a collision-free path from the starting state to the target state based on the map and the perception sensor information obtained from the scene presentation simulator; The local path tracking module is used to plan and generate control quantities for tracking the global path, and send them to the scene rendering simulator to drive the robot model to move.
8. The unmanned platform collaborative mission planning simulation verification system according to claim 1 is characterized in that: The scene presentation simulator is implemented based on CoppeliaSim simulation software.
9. A simulation verification method for collaborative mission planning of an unmanned platform, implemented based on the system described in any one of claims 1 to 8, characterized in that: include: S1, input tasks based on the human-computer interaction interface and send them to each execution platform; S2, each execution platform receives the task and executes the task; S3, presenting the scenario of the ground unmanned platform collaborative mission planning simulation verification based on the scenario presentation simulator.
10. The method according to claim 9, characterized in that The S2 includes: S21, the ground unmanned platform controller receives and analyzes the task data sent by the human-computer interaction interface; S22, the ground unmanned platform controller receives and analyzes the position data and perception sensor information of the ground unmanned platform in the scene published by the scene presentation simulator; S23, performing autonomous navigation planning based on the map, posture data and the perception sensor information to obtain a collision-free path from the starting state to the target state; generating a control amount for tracking the global path based on the collision-free path and sending it to the scene presentation simulator to drive the robot model to move and perform the task.