909 results about "Trajectory optimization" patented technology

The invention discloses a trajectory optimization method based on a multi-source heterogeneous positioning data fusion algorithm, and relates to the technical field of intelligent navigation and high-precision positioning, multi-modal data are acquired through a multi-modal sensor array, positioning redundancy of scenes such as tunnels and indoor scenes is enhanced, a weight distribution strategy is dynamically adjusted through an Actor-Critic network architecture, and the positioning accuracy is improved. The state space input comprises an environment semantic tag, a historical error sequence and a real-time noise variance, the output action space is continuous weight distribution of each data source, a multi-target reward function optimization strategy is combined, scene adaptability is realized, a local SLAM map, inertial navigation error parameters and a weight distribution strategy are shared in real time based on a V2X protocol, and the real-time performance of the system is improved. According to the method, a single device accumulative error is compensated by using adjacent vehicle data, a terminal locally trains an error compensation model, parameters are uploaded to a cloud end through differential privacy encryption, the cloud end adopts a FedAvg algorithm to aggregate a global model and issue the global model, the error difference between devices is inhibited, and dynamic road network updating and scene differentiation model distribution are supported at the same time.

The invention discloses a point cloud data rapid processing system based on 3D vision, and relates to the technical field of point cloud data processing. The binocular acquisition module generates an anti-interference high-precision point cloud; the preprocessing module is used for reducing noise and dimensionality and retaining key geometric features; the hierarchical feature extraction module fuses curvature weight and a non-maximum suppression strategy, and improves the robustness of an ORB algorithm in rotation, scale and noise scenes; the industrial scene segmentation module accurately separates stacked objects through normal vector clustering and a dynamic region growing algorithm, and secondarily verifies boundaries in combination with a lightweight semantic model; the two-stage registration module dynamically adjusts a threshold value based on error feedback to realize pose optimization from coarse registration to fine registration; the coordinate mapping module establishes a space mapping model through multi-attitude calibration and robot multi-axis linkage trajectory optimization. The problem that in the prior art, a 3D machine vision algorithm is high in time delay is solved, the real-time performance and rapidity of 3D model recognition and feature extraction are improved, and the efficiency requirement of industrial production is met.

The invention discloses an expressway emergency management and control method and system, and the method comprises the steps: building a multi-dimensional heterogeneous data fusion model through a time-space diagram neural network according to the traffic flow, meteorological data and accident reports collected by roadside sensing equipment, and carrying out the dynamic prediction of the risk level of a road segment, and obtaining a real-time risk level map of a whole road network; based on the real-time risk level map, outputting a dynamic shunting scheme containing variable lane marks and a speed limiting strategy; according to the dynamic shunting scheme, generating a vehicle trajectory optimization strategy; and outputting an anti-interference optimization control strategy based on a vehicle trajectory optimization strategy in combination with sudden obstacle data polled by the unmanned aerial vehicle in real time. According to the embodiment of the invention, rapid and accurate path adjustment and cooperative control can be carried out, and the emergency management level of the expressway is improved.

The invention relates to the technical field of artificial intelligence, can be applied to business scenes of robot strategy training, financial science and technology, medical treatment and health and the like, and discloses a strategy optimization method and device based on an interaction track, equipment and a medium. The reinforcement learning agent interacts with the environment to generate an action and state sequence and record an interaction track, an optimal action strategy is generated based on a track optimization strategy, an original empirical data set is further generated, and a pre-training model is optimized through supervised learning to obtain a target strategy model. According to the method, a task-related high-quality trajectory is generated through reinforcement learning agent and environment interaction, original empirical data is extracted on this basis, and a pre-training strategy model is optimized in combination with a supervised learning mechanism, so that the sample utilization efficiency is effectively improved, and the generalization ability and execution robustness of the model under a multi-task condition are enhanced.

The invention relates to the technical field of path planning, and discloses a robot path planning method, which comprises the following steps that a hybrid cost map is constructed, and the hybrid cost map comprises a static obstacle field, a dynamic obstacle probability prediction field and a terrain energy consumption field; constructing an anisotropic heuristic function, and searching on the mixed cost map to obtain an initial path; parameterizing the initial path into a group of piecewise polynomial curves, constructing a joint optimization target which takes the total curvature, the piecewise polynomial curves and the space-time overlapping integral of a dynamic obstacle probability prediction field, and performing trajectory optimization under the condition of meeting the kinematics constraint of the robot to obtain a smooth space-time trajectory; when the task is executed, the information divergence is continuously calculated, and when the information divergence exceeds a preset threshold value, the current state of the robot serves as a new starting point, and the complete path planning process is executed again. According to the method, the future collision risk is prospectively avoided, the energy consumption of the robot is considered, and the comprehensive quality of the path is improved from the source.

The invention relates to a tower crane operation control system based on complex scene three-dimensional real-time modeling. According to the system, a lifting hook is coarsely positioned through a lifting hook positioning and state sensing unit, a real-time position is positioned by combining a laser radar point cloud clustering algorithm with historical pose data, and visual tracking is synchronously performed by means of a tower top camera AI; converting the real-time point cloud data into a 3D voxel grid map, generating a global path by using a 3DA algorithm, and outputting a hoisting track after smooth processing and track optimization; establishing a sling-lifting hook double-pendulum dynamic model, predicting a state sequence based on a model prediction control algorithm, and adjusting a control signal through a feedforward compensation item and a feedback correction item; and the man-machine interaction and monitoring unit is used for displaying the cantilever angle, the lifting hook height and the three-dimensional map of the tower crane in real time and remotely intervening the operation state of the tower crane. According to the system, multi-source data are fused to construct a high-precision three-dimensional map, lifting hook positioning and full-view tracking are achieved, and lifting safety and trajectory tracking precision are improved through path planning and dynamics control.

The invention provides an end-to-end automatic driving decision control method and system, and belongs to the technical field of automatic driving. The invention relates to an end-to-end automatic driving decision control method based on multi-modal perception and hierarchical trajectory optimization, and the method comprises the steps: constructing an end-to-end decision closed loop through combining the zero sample migration capability of a vision-language-action (VLA) model with a hierarchical optimization architecture: analyzing multi-modal input (vision, language and point cloud) by using a pre-trained VLA model to generate path points; the vehicle pose is dynamically adjusted through upper-layer optimization to expand a feasible solution space, a smooth track meeting dynamics and collision avoidance constraints is solved in real time through lower-layer optimization, and finally a vehicle control instruction is output. According to the method, a multi-modal sensing and hierarchical trajectory optimization mechanism is fused, and the sensing generalization ability, the path planning feasibility and the control execution robustness of the system in a complex traffic environment are effectively improved.

The invention discloses a real-time temperature measurement and optimal scheduling method for a rail-mounted intelligent inspection robot, and the method comprises the steps: obtaining the temperature of equipment along a rail in real time through a temperature sensor on the inspection robot, analyzing the working state of the equipment along the rail, and recognizing a potential overheating risk region; establishing a multi-robot collaborative inspection task scheduling model according to the position information and the emergency degree of the potential overheating risk area; planning an inspection path for the multi-robot collaborative task scheduling data by taking the shortest time as an index, optimizing the inspection path by adopting a fusion improved ant colony algorithm and combining a TEB strategy, and obtaining a global planning path; a trajectory optimization strategy based on Minimum Snap is adopted for the global planning path, a Bezier curve is utilized to optimize the path trajectory, a multi-robot collaborative task scheduling model is combined with an auction algorithm to dynamically allocate tasks, efficient utilization of resources and priority processing of emergency tasks are ensured, the inspection efficiency and safety are improved, and the operation cost is reduced.

The invention relates to the field of navigation, and more particularly discloses a gradient optimization driven unmanned aerial vehicle real-time obstacle avoidance multi-stage trajectory planning method, which comprises the following steps of: in a trajectory initialization stage, firstly, searching a collision-free geometric path considering steering limitation of an unmanned aerial vehicle on an occupied grid map by utilizing an improved algorithm to generate an initial B-spline control point; then, in a trajectory optimization stage, constructing a multi-target trajectory optimization problem, introducing an obstacle avoidance constraint based on an Euclidean distance field map, and optimizing the initial control point set in combination with unmanned aerial vehicle parameters and optimization weights to obtain a trajectory meeting an obstacle avoidance requirement; and finally, for the optimized trajectory, performing dynamic feasibility evaluation based on unmanned aerial vehicle kinematics limitation in a trajectory correction stage, and if the trajectory does not meet the constraint, performing correction based on the minimum curvature constraint on the control point to ensure that the finally generated trajectory is not only obstacle-avoiding but also feasible in dynamics, and finally, determining that the trajectory does not meet the constraint. Therefore, the real-time obstacle avoidance capability of the unmanned aerial vehicle in a complex environment is effectively improved.

The invention relates to the technical field of ground mobile unmanned equipment control, and discloses a ground mobile unmanned equipment autonomous obstacle avoidance control system optimized by artificial intelligence. The system comprises an environment perception layer, a bimodal risk assessment layer, a dynamic decision-making layer, a trajectory optimization layer and a feedback optimization layer. The environment sensing layer adopts a retina fovea centralis imitating mechanism to perform non-uniform sampling on laser radar point cloud data to generate dynamic point cloud partitions; the bimodal risk assessment layer fuses two types of radar data to generate static and dynamic obstacle risk assessment diagrams; the dynamic decision-making layer establishes space-time mapping and generates an obstacle confidence coefficient matrix through a graph neural network; the trajectory optimization layer converts the matrix into a control parameter based on a multi-objective evolutionary algorithm, and issues the control parameter through a time-sensitive network protocol; and the feedback optimization layer monitors environment change, calculates deviation, generates an effectiveness index, and dynamically adjusts a point cloud acquisition strategy until the index is optimal. According to the system, the autonomous obstacle avoidance capability and adaptability of the ground mobile unmanned equipment in a complex environment are enhanced.

The invention relates to the technical field of intelligent control, in particular to a full-automatic plug-in testing machine control system and method, and the system comprises a multi-dimensional data collection module, an abnormal state recognition module, an action termination judgment module, a parameter correction module and a trajectory optimization execution module. According to the invention, based on multi-sensor array fusion, multi-physical quantity cooperative acquisition in equipment operation is realized, vibration, temperature, path and plugging force data are comprehensively calibrated by using a time axis, and through spectral analysis and three-dimensional deviation comparison, fine abnormity and trend change are dynamically revealed, and operation fluctuation and potential abnormity are identified in real time. According to the method, the reasonable interval of the insertion and extraction force is automatically calculated, the action duration and path trend are adjusted, the operation parameters are continuously corrected, equipment abnormity early warning, accurate intervention and multi-parameter linkage adjustment are achieved in the whole process, the test continuity, the execution sensitivity and the prevention and control capacity are improved, misoperation is effectively restrained, abrasion is reduced, and the high-density intelligent test requirement is met.

The invention discloses a cooperative positioning and trajectory planning method based on an air-ground robot system, and the method comprises the steps: enabling unmanned vehicles to construct a global environment map through a laser radar, achieving the positioning of the unmanned vehicles, obtaining the distances between the unmanned vehicles through the combination of an IMU (Inertial Measurement Unit) and a UWB (Ultra Wideband) distance measurement chip of the unmanned vehicles, and carrying out the real-time pose estimation. Based on the fused pose and global map information, a method of combining mixed A * search and nonlinear trajectory optimization is adopted, a collaborative trajectory planning problem is converted into a multi-constraint optimization model, the sight distance quality between air-ground robots, an unmanned vehicle team-shaped geometric structure and an unmanned aerial vehicle rapid navigation problem are comprehensively considered, and the space-ground robot cooperative trajectory planning method is established. And generating a collision-free optimized cooperative trajectory meeting multi-robot kinematics constraints in real time. According to the method, the positioning precision and the coordination degree of the air-ground coordination system in a complex dynamic environment are remarkably improved, and a safe, efficient and real-time heterogeneous multi-robot trajectory planning method is provided for various application scenes such as routing inspection, search and rescue, environment monitoring and the like.

The invention discloses a robot dog inspection path intelligent planning and dynamic adjustment method, system and device and a medium, and belongs to the technical field of robot path planning, and the method comprises the steps: calculating a task emergency degree index according to a weight coefficient of an inspection point and a time constraint, and determining a task priority; constructing a hierarchical electronic map containing the terrain difficulty coefficient and the moving cost; performing global path planning through a comprehensive cost function by adopting an A star algorithm; environment information is collected in real time through multiple sensors, and the dynamic obstacle layer is updated; performing real-time trajectory optimization by adopting a local path planning mode; selecting local path correction or global path re-planning according to the path execution state score; energy needed for completing the remaining tasks is predicted, and a charging path is planned when necessary. According to the invention, multi-target adaptive optimization of path planning is realized, a coordination mechanism of global planning and local adjustment is established, and the execution efficiency and reliability of inspection tasks are improved.

The invention relates to the technical field of intelligent mechanical arm control, and discloses a mechanical arm track optimization method and system based on deep learning and a fuzzy algorithm, and the method comprises the steps: building a kinematic model of a mechanical arm, determining the working space of the mechanical arm, carrying out the high-density random sampling, and generating a three-dimensional point cloud picture of a reachable region at the tail end of the mechanical arm; constructing a path planning model, designing a state space and an action space, and constructing a reward function; time-impact double-target optimization is carried out on the tail end path point sequence, a smooth joint trajectory is constructed, and balance between the shortest trajectory execution time and the minimum joint impact is achieved on the premise that speed and acceleration constraints are met; and tracking control is carried out on the trajectory, external disturbance and unmodeled dynamics are estimated and compensated in real time, a parameter adaptive law is designed, and the trajectory tracking precision of the system in a complex environment is improved. The autonomy, the accuracy and the anti-interference capability of the hot-line work mechanical arm in a complex environment are improved.

The invention relates to a distributed trajectory planning method and system for an unmanned aerial vehicle cluster in an obstacle environment. The method comprises the steps of initializing a system, constructing a local Euclidean symbol distance site map, and realizing real-time interaction of state information of the unmanned aerial vehicle. An initial collision-free path is generated using jump point search. And solving an optimal control point through an L-BFGS algorithm through multi-constraint trajectory optimization in combination with a load swing dynamics model, four-rotor dynamics limitation, cluster collision avoidance and environment obstacle avoidance requirements. And a dynamic time redistribution strategy is adopted, and the track time interval is adjusted according to speed and acceleration overrun conditions. The method further comprises an adaptive re-planning mechanism, and local target points are updated in real time and adjacent aircraft collaborative optimization is triggered based on local map boundary detection and quadrotor track safety detection. According to the method, efficient, safe and stable trajectory planning of the hanging load quad-rotor unmanned aerial vehicle cluster in a complex environment is realized, the requirement of autonomously and efficiently completing tasks is met, and the task execution efficiency and safety are improved.

The invention relates to the technical field of image analysis, in particular to a dispensing track optimization control system based on visual template conversion, which comprises a visual template analysis module, a contour point position correction module, a track vector generation module, a multi-parameter linkage feedback module and an optimal path planning module. According to the method, a boundary is extracted through clustering pixel superposition brightness and channel weight, a line segment frequency screening track is counted, feature stability and precision are enhanced through datum line construction, a deviation value is calculated through gradient direction segmentation boundary, a matching degree is improved through tangent point interpolation correction contour, and a weight factor is generated through included angle change and tool parameter normalization. A reference point is optimized through superposition increment, a path fusion tool attribute dynamic adaptation parameter is adopted, a multi-dimensional data fusion visual offset and floating weight real-time adjustment track is acquired, an execution point and an adjustment vector are superposed to calculate a distance matrix, an optimal path is screened through minimum distance and energy consumption, efficiency and consumption are both considered, and the system robustness and execution economical efficiency are remarkably improved.

The invention relates to the technical field of industrial robot control, and particularly discloses an intelligent foreign matter sorting robot control system based on AI recognition, which comprises a dynamic spatial feature extraction module, a manipulator motion state coding module, a collaborative conflict detection module, a dynamic trajectory optimization module and an execution control adjustment module, constructing a three-dimensional dynamic space model through multi-sensor fusion, and extracting spatial topological features by utilizing continuous coherence analysis; manipulator motion parameters are converted into topological space representation, and a track feature coding matrix is established; detecting interaction conflicts among the manipulators in real time by adopting a multi-scale coherence analysis method, and generating graded early warning signals; a collision avoidance track is optimized based on topological constraints and a virtual rejection field technology; precise execution is achieved through inverse kinematics of the Lie group theory and self-adaptive control.

The invention discloses a vehicle trajectory planning method and device and a vehicle, and relates to the technical field of intelligent driving. The method comprises the following steps: obtaining vehicle state information of a target vehicle, a reference trajectory and environment perception data containing available traffic width, and performing trajectory optimization processing according to the vehicle state information, the reference trajectory and the environment perception data to obtain a trajectory optimization result of the reference trajectory; in the trajectory optimization processing process, taking a first passing cost required for minimizing a trajectory optimization result as a target; a passing width cost item in the first passing cost is a power function taking the residual passing width as an independent variable, and the passing width cost item is increased along with the reduction of the residual passing width; the remaining passing width is the difference between the available passing width and the vehicle width of the target vehicle. Therefore, in a narrow traffic scene, the traffic width cost item is increased in a super-linear manner, the constraint strength on the transverse position of the track is enhanced, the generation of a high-risk track excessively close to an obstacle is effectively avoided, the planning interruption frequency is reduced, and the trafficability of the vehicle in the narrow scene is remarkably improved.

The invention provides a honeycomb core six-axis ultrasonic cutting tool path dynamic compensation and trajectory optimization control method, which relates to the technical field of intelligent control, and comprises the following steps: obtaining honeycomb core structure parameters and cutting contour lines, establishing an interaction model based on deep reinforcement learning, and generating stress-strain prediction data; according to the method, feature regions are divided, differential initial machining parameters are set, an initial tool path track is generated, a digital twin model is established, machining data dynamic optimization parameters are collected in real time, and a tool path is compensated, so that the cutting precision and efficiency of the honeycomb core structure are improved, and machining deformation and material damage are reduced.

The invention relates to the technical field of industrial robot control, and discloses a robot end trajectory optimization method and system based on industrial vision, and the method comprises the steps: obtaining a workpiece surface image in real time through a vision sensor, and obtaining deformation data through image enhancement and feature extraction; when the deformation quantity exceeds a threshold value, calculating a multi-axis coordination parameter by adopting an optimization algorithm to generate a trajectory correction instruction; integrating speed constraints by updating a control model, and determining a final trajectory by using Kalman filtering to fuse sensor feedback data; and the control parameters are iteratively adjusted in the deformation feedback loop, and a stable machining track is formed. The method can solve the problem that in the prior art, the robot tail end track precision is low.

The invention relates to the technical field of industrial robot control, and discloses an industrial robot trajectory optimization control method based on an intelligent algorithm. The method comprises the steps that joint position information, tool center point coordinates and a motion time sequence when a robot executes multiple tasks are collected and stored in a track database; after cleaning and screening data, extracting a feature set containing a path point sequence, speed distribution and an acceleration contour; constructing an intelligent optimization algorithm model of a neural network structure, and training by using the feature set to learn a trajectory optimization strategy; analyzing a target position coordinate and a motion constraint condition of the current task to obtain an initial track parameter; and inputting the initial parameters into the trained model, outputting an optimized track sequence containing a path point list and a speed curve, and generating a control instruction to drive the robot to move. The method can adapt to different tasks, improves track rationality and motion stability, and fits industrial production practice.

The invention provides a ship trajectory optimization method and system based on a visual language model and multi-modal collaborative decision, and relates to the field of ship trajectory prediction.The method comprises the steps that a trajectory prediction model is established, and a ship trajectory optimization model is established based on the visual language model; establishing a ship trajectory optimization cue word template based on chain thinking; first multi-modal data is obtained, and the first multi-modal data at least comprises a track classification label; generating a basic trajectory prediction result according to the first multi-modal data through a trajectory prediction model; generating second multi-modal data according to the basic trajectory prediction result and the first multi-modal data; and through the ship trajectory optimization model, according to the ship trajectory optimization cue word template based on chain thinking and the second multi-modal data, an optimized trajectory prediction result is generated, and the ship trajectory prediction method has the advantage of improving the accuracy of ship trajectory prediction.

The invention particularly relates to a robot outdoor large-scale scene autonomous navigation method based on an open digital map, which comprises the following steps: extracting a road network structure, constructing a road network topological graph, and modeling a road network space by using an R tree; associating a starting point with a target point according to the road network topological graph of the R-tree structure, and performing global path planning based on a Dijkstra algorithm to obtain path points from the starting point to the target point; acquiring laser radar sensor point clouds, and generating a local voxel map by using the point clouds after the ground points are filtered out; performing local target point mapping by combining the global path line segment and a local voxel map to generate a local target point; performing local front-end path search based on a JPS algorithm to obtain a local front-end path from the current position of the robot to a local target point; a safety corridor is constructed according to the local front-end path, and trajectory optimization is carried out; and tracking the optimized trajectory, and planning the speed by considering the nonlinear model of the robot and the actual motion state. The method provided by the invention can realize outdoor large-range long-distance autonomous navigation.

The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle cooperative control method and system based on the Internet of Things. The method comprises the following steps: collecting scenic spot sensing data, and carrying out multi-modal integrated perception to obtain a scenic spot environment integrated situation map and an unmanned aerial vehicle cluster situation map; performing event-driven dynamic scheduling based on the scenic spot environment integration situation map and the unmanned aerial vehicle cluster situation map to obtain a dynamic task allocation table; obtaining tourist shooting order data, and carrying out intelligent agent track strategy iterative optimization to obtain a multi-intelligent agent strategy set; performing unmanned aerial vehicle cluster global flight path collaborative optimization based on the multi-agent strategy set to obtain an unmanned aerial vehicle individualized execution instruction set; and acquiring a real-time unmanned aerial vehicle shooting image set, performing angle offset adaptability correction to obtain an unmanned aerial vehicle optimized shooting parameter set, and issuing the unmanned aerial vehicle optimized shooting parameter set to each unmanned aerial vehicle terminal. According to the invention, the dynamic scheduling and flight path optimization capability of the multi-unmanned aerial vehicle system can be improved.

The invention discloses an automatic guided vehicle path optimization method and system based on fusion planning, and relates to the field of robot technology, computer science and automation control, and the method comprises the steps: carrying out the global path optimization based on an improved A star algorithm according to a two-dimensional grid map, and obtaining a global optimal path and a key path point set; performing local path planning based on an improved dynamic window algorithm according to the global optimal path and the key path point set, and obtaining a local obstacle avoidance track and an optimal speed control instruction; and based on the optimal speed control instruction and in combination with the local obstacle avoidance trajectory, obtaining an automatic guided vehicle path optimization result. According to the method, on the global planning level, the path length and the number of redundant nodes are remarkably reduced, the steering frequency is effectively reduced, and the path smoothness and the performability are improved; in a local planning level, efficient obstacle avoidance and real-time trajectory optimization in a dynamic obstacle environment are realized.

The invention relates to the technical field of mobile robot control, and discloses a wheeled robot trajectory tracking anti-interference control system, which comprises a nonlinear dynamics modeling module used for establishing a nonlinear dynamics model of a wheeled robot so as to describe the motion characteristics of the robot under the influence of ground friction force, sliding force and modeling errors; the disturbance estimation module is used for estimating external disturbance and system modeling errors in real time through an extended state observer and providing disturbance compensation data for the controller; and the sliding mode control module is used for realizing rapid convergence of track deviation by constructing a sliding mode surface and enhancing the anti-interference capability of the system by dynamically adjusting the sliding mode gain. According to the invention, through nonlinear dynamic modeling, disturbance estimation, sliding mode control and model prediction control fusion and real-time trajectory optimization, high-precision trajectory tracking is realized, and the anti-interference capability and the dynamic environment adaptability are enhanced.

The invention relates to the technical field of computer vision and satellite video processing, in particular to a satellite video dense vehicle tracking method and system. The method comprises the following steps: constructing a satellite video dense vehicle data set VDD-VEH containing a motion vector label, and providing supervision information for space-time modeling; designing a motion position map (MPG), mapping a target space position and a motion flow into a three-dimensional space-time diagram structure, fusing space-time consistency, appearance features and detection confidence by using a multi-feature edge weight (MFEW) strategy, and quantifying node association strength; global optimal trajectory association is realized by adopting integral linear programming (ILP), abnormal trajectories are eliminated by combining a trajectory optimization module (TRM), trajectory fractures are repaired, and long-time-sequence tracking stability is enhanced. The method is remarkably superior to the prior art in indexes such as MOTA and IDF1, the identity switching frequency is reduced by 55%, and the method is suitable for intelligent traffic monitoring and remote sensing video analysis and has high precision and cross-scene generalization ability.

The invention provides an unmanned aerial vehicle assisted private network task unloading and resource optimization method and device, and relates to the technical field of unmanned aerial vehicle communication. The method comprises the following steps: constructing a calculation task processing delay and energy consumption model based on an unloading strategy; an unmanned aerial vehicle trajectory optimization and user task unloading strategy optimization algorithm based on DDPG is constructed according to the model; establishing an unmanned aerial vehicle perception model, and generating perception calculation task data through the unmanned aerial vehicle perception model; a dichotomy cross entropy loss function is adopted to optimize decision making and unloading of an action space in a DDPG-based unmanned aerial vehicle trajectory optimization and user task unloading strategy optimization algorithm, and an optimal unloading strategy and an optimal unloading proportion are obtained; and repeatedly and iteratively executing the unmanned aerial vehicle trajectory optimization and user task unloading strategy optimization algorithm based on the DDPG until the award function converges, and generating an optimal unmanned aerial vehicle trajectory flight and user calculation unloading strategy. According to the invention, tasks can be efficiently distributed between the ground and the aerial platform.

The invention discloses a shape adaptive planning and control method for a deformable unmanned aerial vehicle, and the method comprises the steps: carrying out the searching based on an occupied grid map of a scene through employing a variable-size kinematics A * path planning algorithm, and obtaining an initial path; by taking the initial path as an initial condition, shape-adaptive trajectory optimization in a continuous space-time space is carried out to obtain an optimized trajectory, and in the trajectory optimization process, the mass center position and deformation parameters of the unmanned aerial vehicle are optimized at the same time; and based on the optimized trajectory, on the basis of a nonlinear model predictive controller and by combining an incremental nonlinear dynamic inverse algorithm, calculating and compensating external force disturbance and external torque disturbance caused by deformation of the unmanned aerial vehicle and a load, so as to realize shape adaptive control of the deformable unmanned aerial vehicle.

The invention discloses a wheel-legged robot whole-body motion control system and method considering slippage steering, and relates to the technical field of wheel-legged machine control. The system comprises an input module used for receiving an expected motion track or a motion instruction from an upper layer planning system; the trajectory optimization module takes the motion trajectory output by the input module as a tracking target, so that the platform can be optimized in real time along an offline trajectory; the tracking control module is used for solving a joint torque through inverse dynamics by adopting a total rigid body dynamic model, realizing motion tracking through a whole body control WBC method, and solving a motion and contact force priority task by using a hierarchical optimization method; and the state estimation module is used for estimating all current state quantities of model predictive control MPC and information required by whole body control WBC through sensor information. By means of the system, high-dynamic stable motion control over the wheel-legged robot under the complex terrain can be achieved.