Research On Key Technology Application Of Multi-robots In Emergency Command And Control System

Public safety emergencies are characterized by multiple variables,rapid changes,and inaccessible change information.As an effective technology,robots are gradually applied to the public safety emergency field.This thesis proposes an organic combination method of multi-robots and emergency command and control systems.From the perspective of multirobot mobile coverage,multi-robot information fusion,and multi-robot mission planning,the research on multi-robot key technology application is conducted to enhance the system perception and emergency processing capabilities.The main work of the dissertation is as follows:(1)Build a multi-robot-based emergency command and control system framework.In order to realize the application of multi-robots in scale,the idea of "network centralization" is adopted to construct an overall framework,which organically integrates the multi-robots with the robot control platform and the upper command center.Moreover,we analyze the communication connection,function interaction and organizational behavior relationship among key elements in the system.(2)A multi-robot mobile coverage model is proposed.Based on characteristics of the robot's number,moving distance and moving time,a multi-robot coverage capability index is established.Selecting the key indicator,the research on flight and ground robots' mobile coverage is developed.The coverage characteristics are separately described and an environment model is established by sampling squares.Then,the solving process of coverage model is obtained based on methods of traveling salesman or multiple traveling salesman.Finally,the genetic algorithm is used to complete the case analysis and algorithm verification.(3)A standard multi-robot information fusion model for emergencies is constructed.Based on the analysis of fusion function,fusion structure and system architecture,information fusion structure and processing model of the multi-robot are proposed.This section mainly discusses the information preprocessing module and standardizes multi-robot information with the idea of knowledge element.Meanwhile,the unified data table and the logical relation storage database are designed.In the actual application,the ETL operation is used to handle redundant and missing data.Finally,supposing the urban fire scenario,a solution is given and the analysis of fire situation assessment and interpolation method validation are completed.(4)A new multi-robot mission planning mechanism is built.In the face of changeable events and robot heterogeneity,the multi-robot task assignment method is proposed based on event scenarios.The task decomposition is realized by decomposing events to robot mission scenarios.Then the requirements of multiple robots are determined and the representation of multi-robot resource capabilities is simplified by coding.The task assignment model is established and the relevant case study is completed.Meanwhile,the multi-robot path planning module selects flight robots as research objective.Supposing the mountain rescue scenario,performance and environmental constraints are described.And the grid modeling and ant colony optimization solution process are determined.Finally,the optimal paths of different types of flight robots under three-dimensional or two-dimensional models are obtained by simulation.(5)The technology development of key modules is realized.An MVC-based B/S software development framework is established.In addition,the overall functionality and key application modules for multi-robots of system is completed,and the operation effect of related modules is presented.