Research on the Architecture of Hybrid Collaborative Planning and Control System for Small Swarm of UGVs

To solve the contradiction between the low combat effectiveness and small scope of action of single unmanned equipment and the difficulty of unmanned clusters to focus on the core value of the battlefield and the low level of intelligence in the urban terrain, the Small-Swarm of UGVs (SS-UGVs) system composed of multiple unmanned ground vehicles is urgently needed. Taking the SS-UGVs system constructed by heterogeneous multi-unmanned vehicles as the research object, with following control, battlefield reconnaissance and target search, multi-task collaborative distribution and multi-platform collaborative roundup as typical combat tasks, a SS-UGVs hybrid collaborative planning and control system is proposed. The system interaction design, drive algorithm development, and real vehicle scenario test verification are realized. The test results show that the hybrid architecture system has compatibility and openness, and the internal intelligent drive algorithm has modularity and fungibility, which initially forms the effectiveness of SS-UGVs in urban terrain, effectively improves the battlefield efficiency and mission execution robustness of SS-UGVs, and promotes the rapid generation of larger scale unmanned swarms cooperative combat capability.