Application Research Of Multiple Unmanned Platforms In The Emergency Management

In view of the current emergency management mechanism can not effectively deal with emergencies, it is necessary to reform the emergency management theory and method for the future and efficiently response to emergencies, especially social security incidents in order to enhance the level of emergency management.Based on the in-depth analysis and summary the research status of multiple unmanned platforms, this paper proposed the idea of applying multiple unmanned platforms in emergency management. The emergency management solutions are constructed based on multiple unmanned platforms by integrating the use of management science, system science, computer science, control theory, emergency management theory. From the perspective of the combination of management and control, the emergency management theory, method and technology based on multiple unmanned platforms are explored, and applied to early warning of emergencies, emergency response, later management after emergencies respectively. To solve the problems arising from three stages, emergency management solutions based on multiple unmanned platforms are given in order to further enhance the ability of our country in response to emergencies in the future, especially the emergency management ability of social security incidents, further improve the level of emergency management. The main research contents and results are as follows:(1) Firstly, the framework of the emergency management system based on multiple unmanned platforms is proposed, and the general design of the networked multi-platform system architecture, the multi-platform software architecture, and the human-machine coordinated interaction interface are stated respectively. The multi-platform communication protocol is also designed. All these jobs can lay the foundation for the construction of multi-platform emergency system in the future.(2) The barrier coverage of the homogeneous mobile wireless sensor nodes is researched. The 1-barrier coverage problem is formulated based on bipartite graph theory and we adopt the auction-based 1-barrier construction algorithm to solve this problem. The strategy of detection and recovery of coverage holes based on the heterogeneous mobile sensor nodes is proposed in order to achieve the complete coverage of the area to be monitored and ensure that exceptions may occur anywhere in the entire area can be monitored.(3) On the basis of the "hard" data transmission mechanism and the "soft" information cloud emergency platform, the early-warning strategy based on the soft/hard data, the early-warning index of the social security events are proposed. We hope that our research can provide a theoretical reference for the early-warning and emergency management of the social security events in our country.(4) We adopt the discrete particle swarm algorithm to study the assignment problem of multiple unmanned platforms and multiple targets. The results show that the algorithm can quickly find the optimal solution or feasible solution. We model the persistent operation problem of multiple unmanned platforms and propose the mixed integer linear programming model to formalize the scheduling problem of multiple unmanned platforms so that tasks can be uninterruptedly performed in a way of relay by multiple unmanned platforms.(5)Three modes of coordinated tracking, namely standoff tracking, stalking tracking and relay tracking are systematacially researched. It enriches the theory of target tracking and its application. The control law of coordinated standoff tracking based on differential geometry is proposed. It can ensure that multiple unmanned aerial vehicles (UAVs) maintain a standoff distance from the target and keep a certain phase between the UAVs. The coordinated stalking control law is designed and it can make multiple unmanned platforms follow the moving target in the form of formation. The relay tracking strategy based on the Voronoi diagram and the UGV motion control is designed.(6) We propose that we should build a syncretic emergency rescue system with the characteristic of having multiple unmanned platforms based on WPAN/WLAN/Wireless metropolitan area network, mobile communication (3G/4G) and satellite communication technologies in order to effectively cope with the increasingly serious emergencies. For the stationary target, we adopt the idea of parallel lines scan to search and study the launch strategy of unmanned platforms and the problem of the command center location selection. For the case of moving targets, we design two coordinated search strategies:the moving target-oriented parallel line search strategy and X-shaped search strategy. We conclude that X-shaped search strategy is a better search strategy through simulation and analysis.