Design And Implementation Of Heterogeneous Rescue Robot Group Collaborative Interoperability Demonstration System

Several types of heterogeneous rescue robot group collaboration for disaster relief have become a trend,which makes the research of the coordination and interoperability system of heterogeneous robot groups vital.Collaborative rescue by various types of heterogeneous rescue robots effectively avoids the limitations of a single robot,and the collaborative approach maximizes the power of the cluster.However,due to factors such as accessibility restrictions and the development of precision instrument technology,the individual robots performing collaborative rescue work may exhibit heterogeneity in terms of payload and functionality.Moreover,due to the complexity of the disaster relief environment,tasks emerge dynamically,and collaborative members undergo changes,which necessitates multi-robot systems with technological capacity for adaptive task reconstruction based on dynamic changes in the collaborative environment.Thesis proposes a system solution combining a distributed resource management platform with a collaborative and interoperable command dispatch-generated intelligent agent resolving the problem of interoperability among heterogeneous rescue robot groups through analysis and study.The distributed resource management platform is used to model the rescue capability resources of rescue robots and provide a way to control and manage them effectively.Additionally,a collaborative and interoperable command dispatch-generated intelligent agent is designed to resolve the issue of dynamically generating interoperable data interaction channels and achieving the goal of dynamic collaboration and information processing based on unknown collaborative tasks.To address the heterogeneity of rescue robots,a resource tree proxy method is adopted to model the rescue capability resources of typical disaster relief robots and the associated rescue equipment,which transform the collaborative interoperability of the rescue robots into a linkage of rescue capability resources.Various rescue equipment is managed and controlled through the distributed resource management platform,enabling flat management among resource tree proxy services.To tackle the issue of dynamically emerging collaborative tasks and changes in collaborative members,thesis designs atomic interoperable resource scheduling instructions and an interoperable resource scheduling instruction interpreter.The system dynamically constructs interoperable data interaction channels through request-response and subscription notification services to address the problem of online construction of dynamic interoperable data interaction channels effectively.Additionally,an interoperable template for describing dynamic event response plans and an interoperable script generator are designed.Upon the emergence of dynamic events in the collaborative environment,the interoperability script is automatically generated,followed by its execution through the resource scheduling instruction interpreter,which creates the resource scheduling service automatically.Finally,an intelligent agent for interoperable command dispatch is generated,which dynamically constructs resource scheduling services based on collaborative tasks,thereby solving the problem of dynamically generating interoperable relationships in cases of unknown events and collaborative members.Finally,thesis builds a collaborative and interoperable demonstration system of heterogeneous rescue robots through a semi-realistic simulation approach.Based on the experimental results of the demonstration and validation scenario,the effectiveness and feasibility of the system combining a distributed resource management platform and a collaborative and interoperable command dispatch-generated intelligent agent proposed by thesis is analyzed,which validates the system.