Research And Verification Of Resource Abstraction Technology For Distributed Heterogeneous Unmanned In System

With the more and more extensive application of heterogeneous unmanned systems,multi-robot collaboration has become a trend.The basis of heterogeneous multi-robot collaboration is to realize the interconnection of heterogeneous platforms or devices and carry out effective information exchange.However,since the unmanned systems that perform the cooperative tasks are not from the same model of the same manufacturer,the interconnection between unmanned systems will bring many problems.Such as indirect mouth because no one of the most common system standards,data transmission mode,and the different ability,make unmanned system showed a strong individual heterogeneity,the communication efficiency of unmanned systems,in order to shield the heterogeneity,the usual way is to the data interface between the unmanned systems,transport and other configuration to write well in advance,form the special software,But this approach is extremely redundant and lacks scalability.Firstly,a resource tree general data agent model and its service method based on IOCS are proposed.By unifying the description of heterogeneous unmanned system,the problem of different access modes caused by different interfaces and functions of heterogeneous unmanned system is solvedFinally,with the help of visual UI editing tool,a general resource description file for heterogeneous unmanned system is generated.Secondly,the resource abstraction middleware is designed and implemented.The heterogeneous unmanned system is connected to the resource abstraction middleware.The resource abstraction agent will be formed in the resource abstraction middleware platform,and the equipment data will be managed in the way of resources,so as to shield the heterogeneity of the unmanned system.At the same time,the agent of resource abstraction will generate data analysis and data inversion analysis agent to realize the mapping between the original data and the resource data.Data inversionFinally,with the help of visual UI editing tool,the resource description file for general description of heterogeneous unmanned system is generated,and the verification system is designed.The rationality of resource abstraction technology of heterogeneous unmanned system is verified from the perspectives of unmanned platform itself and multiple heterogeneous unmanned systems.Based on the above research,this paper finally designs a verification system to verify the rationality of the resource abstraction technology of the heterogeneous unmanned system from the two perspectives of the unmanned system and the heterogeneous unmanned system.