In order to meet the needs of border reconnaissance and surveillance tasks, improve the detection capability of moving target detection for vehicles, people and unmanned aerial vehicles in unattended environment. In this paper, a mechanism of photoelectric reconnaissance in unattended environment is proposed, which can realize the functions of space threedimensional sector scanning reconnaissance, target detection, threat warning and so on. The technologies of area coverage, moving target detection and target false alarm involved in the mechanism are analyzed one by one.The coverage strategy of sector scan area suitable for unattended operation, the optimized moving target detection algorithm and the adaptive adjustment technology of optical field of view for targets with different characteristics are proposed. The experimental results show that the system can effectively detect the target with the above characteristics, improve the detection probability of the target and the accuracy of threat warning, and provide strong support for unattended environment.
This paper studies the simulation environment of the current cluster unmanned system, analyzes the shortcomings of the cluster unmanned system, and designs a cluster robot simulation system based on RVIZ and GYM, which has both the fast training algorithm and the physical attributes of the simulation environment, and uses DDS to transmit robot control instructions and state information. After the GYM fast training algorithm, Control the cluster robots to verify the algorithm and collect the state information of the robots in the physical simulation environment of RVIZ. After the whole simulation is passed, the algorithm can be directly used for the path planning of cluster robots. The results show that the simulation environment can effectively simulate the unmanned group reconnaissance system.
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