CN111913482B - Pigeon swarm robot motion control method based on multiple agents - Google Patents
Pigeon swarm robot motion control method based on multiple agents Download PDFInfo
- Publication number
- CN111913482B CN111913482B CN202010674656.7A CN202010674656A CN111913482B CN 111913482 B CN111913482 B CN 111913482B CN 202010674656 A CN202010674656 A CN 202010674656A CN 111913482 B CN111913482 B CN 111913482B
- Authority
- CN
- China
- Prior art keywords
- agent
- pigeon
- sub
- search
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 241000272201 Columbiformes Species 0.000 title claims abstract description 138
- 230000033001 locomotion Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000012544 monitoring process Methods 0.000 claims abstract description 22
- 238000004458 analytical method Methods 0.000 claims abstract description 7
- 238000005457 optimization Methods 0.000 claims abstract description 7
- 238000013439 planning Methods 0.000 claims description 8
- 238000007726 management method Methods 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000012806 monitoring device Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 241000271566 Aves Species 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 244000144992 flock Species 0.000 description 1
- 238000010223 real-time analysis Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
Abstract
The invention relates to the field of robot control, in particular to a multi-Agent-based pigeon swarm robot motion control method, which comprises a monitoring unit, a master pigeon Agent and a slave pigeon Agent; the monitoring unit is arranged in the search and rescue working room and acquires search and rescue information through the main pigeon Agent and the sub pigeon Agent; the search and rescue personnel issue search and rescue tasks to the main pigeon Agent, the main pigeon Agent analyzes and decodes the information through the task management Agent, a team is further established, and meanwhile the working state of each sub pigeon Agent robot is coordinated; each sub pigeon Agent robot and the main pigeon Agent carry out information sharing and experience sharing, so that each sub pigeon Agent robot realizes the optimization of searching path, posture and motion control; and finally, the search and rescue personnel perform comprehensive analysis and rescue work and further judge and indicate according to the received display information. The method can realize information sharing among robots, self-adaptive control, search path optimization and real-time monitoring of the search state of the single pigeon robot, thereby effectively improving the search and rescue efficiency.
Description
Technical Field
The invention relates to the field of robot control, in particular to a multi-Agent-based pigeon swarm robot motion control method.
Background
Natural disasters and safety accidents such as earthquake, debris flow, mine disasters, fire disasters, explosion and the like seriously threaten the life safety of people. After a danger occurs, search and rescue personnel are difficult to enter a search and rescue site in many cases due to the complexity and danger of the site environment. At present, an effective way for solving the problem is to utilize a robot to rescue and search for the wounded, so that the search and rescue efficiency can be greatly improved.
At present, in the aspect of robot control, research and development personnel mainly focus on the search and rescue performance of a single robot, and many scientific problems of group cooperative control, information sharing, search path optimization and the like between robots are urgently solved.
Biological mass clustering movement is a peculiar phenomenon in nature, and a certain relation exists between individuals so as to achieve better survival. The bird flock is one of the species of the cluster sports, and the pigeons are one of the representatives of the birds, which are concerned because of the excellent flight ability, activity ability, and super environmental adaptability and load bearing ability.
Based on the current situation analysis, in order to adapt to a complex search and rescue environment, improve search and rescue efficiency, optimize search and rescue paths and improve the motion state of the robot, the patent provides a pigeon robot group cooperative motion control device and method based on multiple agents.
Disclosure of Invention
Based on the current situation analysis, in order to adapt to a complex search and rescue environment, improve search and rescue efficiency, optimize search and rescue paths and improve the motion state of the robots, the invention provides a multi-Agent-based pigeon swarm robot motion control method, which can realize information sharing among robots, self-adaptive control, search path optimization and real-time monitoring of the search states of single pigeon robots, and improve the swarm control capability, thereby effectively improving the search and rescue efficiency and reducing the loss of lives and properties.
The invention is realized by the following technical scheme: a multi-Agent-based pigeon swarm robot motion control method comprises a monitoring unit, a master pigeon Agent and a slave pigeon Agent; the master pigeon Agent comprises an instruction module, a task management Agent, a positioning Agent, an attitude Agent, a path planning Agent, a self-adaptive control Agent, a coordination Agent and a feedback Agent; the sub-pigeon Agent consists of a plurality of sub-pigeon Agent robots, and each sub-pigeon Agent robot comprises a positioning Agent, an attitude Agent, a path planning Agent, a self-adaptive control Agent, a coordination Agent and a feedback Agent;
the monitoring unit is arranged in the search and rescue working room and acquires search and rescue information through the main pigeon Agent and the sub pigeon Agent; the search and rescue personnel issue search and rescue tasks to the main pigeon Agent, the main pigeon Agent analyzes and decodes the information through the task management Agent, a team is further established, and meanwhile the working state of each sub pigeon Agent robot is coordinated; each sub pigeon Agent robot and the main pigeon Agent carry out information sharing and experience sharing, so that each sub pigeon Agent robot realizes the optimization of searching path, posture and motion control, and the searching efficiency is improved; and finally, the search and rescue personnel perform comprehensive analysis and rescue work and further judge and indicate according to the received display information.
Furthermore, the monitoring unit receives real-time information from the main pigeon Agent and the sub pigeon agents through the communication system, and displays a search picture shot by each sub pigeon Agent robot on the remote human-computer interaction platform for the search and rescue personnel to accurately position the casualty personnel.
Further, the master pigeon Agent analyzes and integrates the received information through an instruction module and then sends the information to the slave pigeon agents.
Furthermore, information sharing and experience sharing can be achieved between each sub-pigeon Agent robot and the main pigeon Agent, so that the running state of the sub-pigeon Agent robot is optimized, and meanwhile, the optimal search and rescue path is searched according to the environment and the state of the sub-pigeon Agent robot, and therefore the search and rescue efficiency and the safety and stability of the sub-pigeon Agent robot are greatly improved.
Furthermore, each sub-pigeon Agent robot feeds back the self information and the search information to the main pigeon Agent, the main pigeon Agent judges in real time according to the situation, adjusts each sub-pigeon Agent robot, and simultaneously sends the information to the monitoring unit in real time.
The main pigeon Agent mainly receives task information sent by search and rescue personnel, integrates the information and sends the information to each sub pigeon Agent robot, and optimal search effect and optimal movement effect are achieved through continuous coordination and information sharing of the main pigeon Agent and the sub pigeon agents. The sub-pigeon agents mainly complete the tasks distributed by the main pigeon agents, the sub-pigeon Agent robots and the sub-pigeon Agent robots are coordinated and share information to achieve the optimal effect, and the information is fed back to the main pigeon agents and the monitoring units, so that the purposes of efficient search and rescue are achieved while the stability and the control effect of the sub-pigeon agents are guaranteed.
Compared with the traditional single robot and other group control, the rescue is completed more efficiently, safely and timely by utilizing the Agent control technology and through the Agent coordination group control technology of search and rescue personnel-main pigeon agents-sub pigeon agents. Firstly, search and rescue personnel send a task instruction to a main pigeon Agent, the main pigeon Agent builds a team according to self requirements, and the main pigeon Agent carries out means such as task allocation, movement coordination, information sharing and the like on the sub pigeon Agent through an instruction module, so that the best search and rescue effect is achieved. The pigeon Agent is responsible for comprehensive searching, experience sharing, information feedback and other shared information, and can well complete tasks on the premise of avoiding repeated searching, mutual collision and self stability.
Drawings
FIG. 1 is a control flow diagram of the present invention;
fig. 2 is a logical block diagram of the present invention.
Detailed Description
The invention is further illustrated below with reference to the figures and examples.
As shown in fig. 1 and 2, a multi-Agent based pigeon group robot motion control method comprises a monitoring unit, a master pigeon Agent and a sub pigeon Agent; the master pigeon Agent comprises an instruction module, a task management Agent, a positioning Agent, an attitude Agent, a path planning Agent, a self-adaptive control Agent, a coordination Agent and a feedback Agent; the sub-pigeon Agent consists of a plurality of sub-pigeon Agent robots, and each sub-pigeon Agent robot comprises a positioning Agent, an attitude Agent, a path planning Agent, a self-adaptive control Agent, a coordination Agent and a feedback Agent;
the monitoring unit is installed in the search and rescue studio, and search and rescue personnel can observe the search state in real time. The monitoring unit acquires search and rescue information through a main pigeon Agent and a sub pigeon Agent; the search and rescue personnel issue search and rescue tasks to the main pigeon Agent, the main pigeon Agent analyzes and decodes information through the task management Agent so as to build a team, an instruction module of the main pigeon Agent issues the tasks to the sub pigeon agents through the wireless communication module, and meanwhile, the main pigeon Agent also coordinates the working state of each sub pigeon Agent robot; each sub pigeon Agent robot and the main pigeon Agent carry out information sharing and experience sharing, so that each sub pigeon Agent robot realizes the optimization of searching path, posture and motion control, and the searching efficiency is improved; and finally, the search and rescue personnel perform comprehensive analysis and rescue work and further judge and indicate according to the received display information. The monitoring unit receives real-time information from the main pigeon Agent and the sub pigeon agents through the communication system, and displays a search picture shot by each sub pigeon Agent robot on the remote human-computer interaction platform for the search and rescue personnel to accurately position casualty personnel. And the master pigeon Agent analyzes and integrates the received information through the instruction module and then sends the information to the slave pigeon agents. And each sub pigeon Agent robot feeds back the self information and the search information to the main pigeon Agent, and the main pigeon Agent judges in real time according to the situation, adjusts each sub pigeon Agent robot and simultaneously sends the information to the monitoring unit in real time.
In the searching and rescuing process, the sub pigeon Agent robot can perform searching and rescuing work through the advantages of the sub pigeon Agent robot, the sub pigeon Agent robot can share the position information of the sub pigeon Agent robot and other sub pigeon Agent robots through the positioning Agent of the sub pigeon Agent robot, on one hand, mutual collision is avoided, and on the other hand, the position dynamics of other sub pigeon Agent robots can be obtained. Meanwhile, each sub-pigeon Agent robot can also transmit the information of the sub-pigeon Agent robot to the main pigeon Agent, and the main pigeon Agent can determine the activity state of each sub-pigeon Agent robot in real time. Meanwhile, the search and rescue personnel can also monitor the position state of each sub-pigeon Agent robot in real time through the monitoring unit.
The attitude agents of the sub pigeon Agent robots can monitor the flight states of the sub pigeon agents to ensure the stability of the sub pigeon agents, and simultaneously can share the attitudes of the sub pigeon agents with other sub pigeon Agent robots and the main pigeon agents to ensure that the searching attitude of each sub pigeon Agent robot is optimal.
The path planning Agent of each sub pigeon Agent robot and the path planning Agent of the main pigeon Agent can perform judgment analysis and path sharing according to the searching track, and comprehensively judge according to the geographical position and the environmental condition of an accident to determine the optimal searching path, so that the searching efficiency can be improved, and repeated searching can be avoided. The self-adaptive control Agent of each sub-pigeon Agent robot and the self-adaptive control Agent of the main pigeon Agent can be regulated and controlled in real time according to terrain and environment changes, and the regulation and control experience is shared by the self-adaptive control agents of other sub-pigeons and the main pigeon, so that the overall balanced and stable search is achieved.
The coordinating Agent of each sub-pigeon Agent robot and the coordinating Agent of the main pigeon Agent can coordinate information content, data processing, movement and the like between each sub-pigeon and the main pigeon robot, so that each robot can accurately acquire information and experience, and the purpose of optimal search is achieved.
The feedback Agent of each sub-pigeon Agent robot can feed back the conditions encountered in the searching process to the main pigeon Agent, the main pigeon Agent can perform real-time analysis, processing and adjustment, and feeds back the result to the feedback Agent of each sub-pigeon Agent robot, and the adjustment is continuously updated, so that the flexibility and the adaptability are higher.
The main pigeon Agent and the sub pigeon agents can determine the optimal searching path, posture, position speed information and the like through continuous feedback adjustment, information sharing and experience obtaining, meanwhile, the main pigeon agents can transmit the searching state and self condition of the sub pigeon agents to the monitoring unit, searching personnel can obtain the searching information in real time, and therefore the searching task can be efficiently completed.
As shown in fig. 1 and fig. 2, the working principle of the present application is as follows:
A. the monitoring unit is located the search and rescue studio, can carry out the interaction through man-machine interaction platform and search and rescue personnel.
B. And the search and rescue personnel issue a search and rescue task instruction to the master pigeon Agent.
C. The master pigeon Agent analyzes through the task management module, comprehensively plans the search and rescue tasks, and simultaneously establishes a team.
D. And the master pigeon Agent issues a search instruction to the slave pigeon Agent through an instruction module.
E. And all Agent modules of the master pigeon Agent and all Agent modules of the sub pigeon Agent robots are coordinated with each other, experience information is shared, and meanwhile, the master pigeon Agent is uniformly planned and regulated in real time, so that the optimal searching effect is achieved.
F. And the master pigeon Agent sends the search information to the remote monitoring unit in real time for further judgment and indication of search and rescue personnel.
Claims (5)
1. A multi-Agent-based pigeon swarm robot motion control method is characterized in that: the monitoring device comprises a monitoring unit, a main pigeon Agent and a sub pigeon Agent; the master pigeon Agent comprises an instruction module, a task management Agent, a positioning Agent, an attitude Agent, a path planning Agent, a self-adaptive control Agent, a coordination Agent and a feedback Agent; the sub-pigeon Agent consists of a plurality of sub-pigeon Agent robots, and each sub-pigeon Agent robot comprises a positioning Agent, an attitude Agent, a path planning Agent, a self-adaptive control Agent, a coordination Agent and a feedback Agent;
the monitoring unit is arranged in the search and rescue working room and acquires search and rescue information through the main pigeon Agent and the sub pigeon Agent; the search and rescue personnel issue search and rescue tasks to the main pigeon Agent, the main pigeon Agent analyzes and decodes the information through the task management Agent, a team is further established, and meanwhile the working state of each sub pigeon Agent robot is coordinated; each sub pigeon Agent robot and the main pigeon Agent carry out information sharing and experience sharing, so that each sub pigeon Agent robot realizes the optimization of searching path, posture and motion control, and the searching efficiency is improved; and finally, the search and rescue personnel perform comprehensive analysis and rescue work and further judge and indicate according to the received display information.
2. The multi-Agent based pigeon swarm robot motion control method according to claim 1, characterized in that: the monitoring unit receives real-time information from the main pigeon Agent and the sub pigeon agents through the communication system, and displays a search picture shot by each sub pigeon Agent robot on the remote human-computer interaction platform for the search and rescue personnel to accurately position casualty personnel.
3. The multi-Agent-based pigeon swarm robot motion control method according to claim 1, characterized in that: and the master pigeon Agent analyzes and integrates the received information through the instruction module and then sends the information to the slave pigeon agents.
4. The multi-Agent-based pigeon swarm robot motion control method according to claim 1, characterized in that: information sharing and experience sharing can be achieved between each sub-pigeon Agent robot and the main pigeon Agent, so that the running state of the sub-pigeon Agent robot is optimized, and meanwhile, the optimal search and rescue path is searched according to the environment and the state of the sub-pigeon Agent robot, and therefore the search and rescue efficiency and the safety and stability of the sub-pigeon Agent robot are greatly improved.
5. The multi-Agent-based pigeon swarm robot motion control method according to claim 1, characterized in that: and each sub pigeon Agent robot feeds back the self information and the search information to the main pigeon Agent, and the main pigeon Agent judges in real time according to the situation, adjusts each sub pigeon Agent robot and simultaneously sends the information to the monitoring unit in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010674656.7A CN111913482B (en) | 2020-07-14 | 2020-07-14 | Pigeon swarm robot motion control method based on multiple agents |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010674656.7A CN111913482B (en) | 2020-07-14 | 2020-07-14 | Pigeon swarm robot motion control method based on multiple agents |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111913482A CN111913482A (en) | 2020-11-10 |
| CN111913482B true CN111913482B (en) | 2022-06-21 |
Family
ID=73281167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010674656.7A Active CN111913482B (en) | 2020-07-14 | 2020-07-14 | Pigeon swarm robot motion control method based on multiple agents |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111913482B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7436401B2 (en) | 2021-01-18 | 2024-02-21 | 株式会社日立製作所 | distributed cooperative system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006338081A (en) * | 2005-05-31 | 2006-12-14 | National Institute Of Advanced Industrial & Technology | Sensor network robot system |
| CN104503454A (en) * | 2014-12-23 | 2015-04-08 | 浙江理工大学 | Searching and rescue robot system moving control method based on multi-intelligent-agent theory |
| CN106354139A (en) * | 2016-10-31 | 2017-01-25 | 江苏理工学院 | Robot cluster searching and rescuing method |
| CN107504972A (en) * | 2017-07-27 | 2017-12-22 | 北京航空航天大学 | A kind of aircraft's flight track method and device for planning based on dove group's algorithm |
| CN110096073A (en) * | 2019-04-18 | 2019-08-06 | 北京航空航天大学 | The ultra-large unmanned plane cluster control system and method for imitative homing pigeon intelligent behavior |
| CN110147099A (en) * | 2019-04-30 | 2019-08-20 | 南京邮电大学 | A kind of multiple no-manned plane collaboratively searching method based on improvement dove group's optimization |
| CN110390431A (en) * | 2019-07-19 | 2019-10-29 | 大连海事大学 | A kind of search and rescue net and its dispatching method based on unmanned machine Swarm Intelligence Algorithm |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10203701B2 (en) * | 2015-11-06 | 2019-02-12 | Massachusetts Institute Of Technology | Dynamic task allocation in an autonomous multi-UAV mission |
-
2020
- 2020-07-14 CN CN202010674656.7A patent/CN111913482B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006338081A (en) * | 2005-05-31 | 2006-12-14 | National Institute Of Advanced Industrial & Technology | Sensor network robot system |
| CN104503454A (en) * | 2014-12-23 | 2015-04-08 | 浙江理工大学 | Searching and rescue robot system moving control method based on multi-intelligent-agent theory |
| CN106354139A (en) * | 2016-10-31 | 2017-01-25 | 江苏理工学院 | Robot cluster searching and rescuing method |
| CN107504972A (en) * | 2017-07-27 | 2017-12-22 | 北京航空航天大学 | A kind of aircraft's flight track method and device for planning based on dove group's algorithm |
| CN110096073A (en) * | 2019-04-18 | 2019-08-06 | 北京航空航天大学 | The ultra-large unmanned plane cluster control system and method for imitative homing pigeon intelligent behavior |
| CN110147099A (en) * | 2019-04-30 | 2019-08-20 | 南京邮电大学 | A kind of multiple no-manned plane collaboratively searching method based on improvement dove group's optimization |
| CN110390431A (en) * | 2019-07-19 | 2019-10-29 | 大连海事大学 | A kind of search and rescue net and its dispatching method based on unmanned machine Swarm Intelligence Algorithm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111913482A (en) | 2020-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109917767B (en) | Distributed unmanned aerial vehicle cluster autonomous management system and control method | |
| Bürkle et al. | Towards autonomous micro uav swarms | |
| CN106444861A (en) | Space robot teleoperation system based on three-dimensional gestures | |
| CN202476328U (en) | Image recognition-based airport laser bird-repelling system | |
| CN108490929A (en) | A kind of Dispatching monitor and control system and method for AGV trolleies | |
| CN111913482B (en) | Pigeon swarm robot motion control method based on multiple agents | |
| CN110174891A (en) | A kind of AGV cluster control system and method based on WIFI wireless communication | |
| CN106005410A (en) | Novel son and mother unmanned aerial vehicle system | |
| CN111754082A (en) | Intelligent delivery system | |
| CN107126656A (en) | A kind of portable subregion wisdom fire-fighting device and method in the tunnel based on BIM technology | |
| CN101364104B (en) | Multi entity monitoring decision support system and method for downhole environment | |
| CN110764521A (en) | Ground station task flight integrated monitoring system and method for multiple unmanned aerial vehicles | |
| CN114093111A (en) | Forest fire rescue air-ground integrated commanding and scheduling system and method | |
| CN112085623B (en) | Engineering supervision method based on artificial intelligence mode | |
| CN112817331A (en) | Intelligent forestry information monitoring system based on multi-machine cooperation | |
| CN113595239A (en) | Cloud-side-end-collaborative intelligent substation management and control system | |
| CN212341738U (en) | Information interaction system for inspection flying robot and automatic nest | |
| CN113625773A (en) | Unmanned aerial vehicle emergency fire-fighting forest patrol command system | |
| US11686556B2 (en) | Operational section of armored vehicles communicating with a fleet of drones | |
| CN109471431A (en) | A kind of robot navigation method and device based on specified path | |
| CN109799841A (en) | A kind of unmanned aerial vehicle ground control system, equipment and storage medium | |
| CN115641726A (en) | Police unmanned aerial vehicle traffic patrol command system and method | |
| CN113031637B (en) | Multi-flying-robot integrated operation platform | |
| CN114298530A (en) | Man-made core HCPS man-machine co-fusion intelligent production system for fully mechanized coal mining face | |
| CN209191861U (en) | A kind of patrol vehicle control and cruiser |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |