软件导刊2024，Vol.23Issue(12)：125-135,11.DOI:10.11907/rjdk.241572
基于数字孪生的无人平行智能搜救系统
Unmanned Parallel Intelligent Search and Rescue System Based on Digital Twins
摘要
Abstract
In response to the challenges of high-risk factors,inadequate global information understanding,and low decision-making efficien-cy in artificial rescue operations within unknown search and rescue scenarios,this study proposes integrating digital twins and robot clusters for efficient decision-making.Digital twins'visual integration and virtual inference capabilities are leveraged for unmanned execution of search and rescue tasks.A hierarchical multi-machine intelligent search and rescue digital twin framework is proposed along with a real-time model construction method based on SLAM.Each component is introduced in detail and theoretically analyzed.To address real-time mission requirements,the study designs online synchronization modules,collaborative target search and positioning modules,and parallel decision-making rescue path planning modules.These elements aim to overcome challenges such as asynchronous dynamics and inadequate accuracy in target search and positioning.Implemented in a Unity3D-based prototype system,the framework and modules are validated in simulated sce-narios,demonstrating reliability and efficiency.This research contributes valuable insights for enhancing artificial rescue operations.关键词
城市搜救/数字孪生/平行智能/无人系统/集群协同Key words
urban search and rescue/digital twin/parallel intelligence/unmanned systems/cluster collaboration分类
信息技术与安全科学引用本文复制引用
郭洛松,蔡庚沅,朱琨,章阳,王俊华..基于数字孪生的无人平行智能搜救系统[J].软件导刊,2024,23(12):125-135,11.基金项目
国家自然科学基金面上项目(62071230) （62071230）
国家自然科学基金中日韩前瞻计划项目(62061146002) （62061146002）
江苏省前沿引领技术基础研究重大项目(BK20222012) （BK20222012）
