| In recent years,with the rapid development of high-tech technologies such as artificial intelligence and machine learning,various unmanned platforms have been widely used around the world.Faced with the diversification and complexity of task problems,a single unmanned platform cannot meet the increasing task needs due to its own level of intelligence.Therefore,it is of great practical significance to study the cooperative control of multiple unmanned platforms.Based on the background of ground unmanned platforms and air unmanned platforms,this paper analyzes the mission capabilities of each unmanned platform in detail,and designs the overall structure of the system for the coordination of ground unmanned platforms and air unmanned platforms,and realizes the ground unmanned platform.Software design for collaborative control of human platform and unmanned aerial platform.The main research contents of this article are as follows:(1)The overall design of multi-unmanned platform collaborative control software(control software for short).The requirement analysis of the control software was carried out,the design scheme of each functional module of the control software was formulated,and a friendly and beautiful human-computer interaction interface was designed.(2)Researched the path planning algorithm of the ground unmanned platform based on Djikstra,designed and developed a multi-unmanned platform motion path planning module,realized the shortest path planning of the ground unmanned platform and the route planning of the air unmanned platform.(3)In-depth study of the architecture of ArcGIS Engine,built a control software map platform based on ArcGIS Engine,realized the basic operations of electronic maps,geographic information acquisition,situation mapping and path planning and display.(4)Researched network data communication technology,compiled network data communication protocol between control software and ground unmanned platform and air unmanned platform.Using Windows Socket network communication technology to achieve network data transmission between the control software and multiple unmanned platforms,using CSerialPort serial communication class to achieve control command transmission between the control software and multiple unmanned platforms.(5)Designed the control software database model and database access interface.Based on the Oracle database,the key data information table of multiple unmanned platforms is designed,and the storage and query of the key data information of the ground unmanned platform and the air unmanned platform are realized by using the ADO database access interface.(6)Researched the network video monitoring technology based on DirectShow,and formulated a video monitoring solution for remote video collection,transmission and playback.Designed data receiving Filter,realized the collection,compression and transmission of video data on the ground unmanned platform;designed network receiving Filter and H.264 decoding Filter to realize the control software to receive,decode and display the video data.This software adopts the C / S architecture mode,uses Visual Studio 2015 as the development platform for software design,and performs software debugging on each functional module of the control software.The debugging results show that the multi-unmanned platform collaborative control software is designed reasonably and the program runs stable,Achieved the expected goal. |
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