要地周边全自主防护与多光谱红外热成像侦察

保护国际民航枢纽机场、特大型油气炼化基地及战略要塞边界安全，多台自主地面车全天候轮流巡航，电池电量临界时自动驶入耐候级防尘接触式充电桩快速补电，实现 365 天无人工介入不间断防守。

SurveillanceUGV 360° Perimeter Monitoring Architecture

Robotics Core: Surveillance Core — Multispectral Reconnaissance & Patrol

第一层：感知与实时建图定位（SLAM）子系统 (3D LiDAR / RealSense RGB-D / Fast-LIO2 / Cartographer): 高频三维点云采集、IMU 紧耦合紧凑预积分以及动态环境下的亚厘米级实时精准定位。
第二层：局部导航与模型预测控制（MPC）执行引擎 (TEB Local Planner / Timed-Elastic Band / Pure Pursuit): 实时动态避障、非完整约束运动学轨迹平滑优化与 ISO 3691-4 激光安全防区自适应动态切换。
第三层：跨品牌互操作协议、实时中间件与车队总线 (VDA 5050 v2.1 / ROS 2 Jazzy / Eclipse Zenoh / CycloneDDS): 标准化 JSON/MQTT 任务调度指令解析、节点内零拷贝共享内存 IPC 与多品牌异构车队高确定性低延迟状态回传。
第四层：集群协同调度、无冲突路径规划与交通优化 (Conflict-Based Search (CBS-MAPF) / Dynamic Block Reservation): 集中式与分布式冲突优先搜索（CBS-MAPF）多智能体无碰撞路径规划、自动机会充电机位调度与通行瓶颈动态消解。

Telemetry & Compliance: ±5 mm (重复定位精度) | <8 ms (调度响应时延) | <12 ms (安全刹停响应时间) | VDA 5050 v2.1 (开放车队协议标准)

保护关键基础设施、军事边境与高价值工业设施，需要能在零能见度下检测入侵的不知疲倦巡逻机器人。SurveillanceUGV 规范了远程多光谱监视载荷与持续自主作战能力。

Perimeter Geofencing and Dynamic Waypoint Patrol — Autonomous boundary monitoring routines incorporating unpredictable patrol timing to deter adversary timing analysis.
Long-Wave Infrared Optics and Thermal Threat Classification — Stabilized thermal imaging turrets running edge neural networks capable of detecting humans at 1,500 meters and vehicles at 3,000 meters in total darkness.
Acoustic and RF Spectrum Sniffer Payloads — Secondary surveillance arrays detecting airborne drone control signals, illegal radio transmissions, and acoustic fence cutting.

AMRAgent — Agentic Autonomous Mobile Robots, Edge Mission Planning & Behavioral Trees
AGVSwarm — Automated Guided Vehicle Swarm Logistics, Block-Zone Dispatch & Traffic Control
AGVSync — VDA 5050 Fleet Protocol, Time-Triggered Dispatch & Multi-Vendor Interoperability
AMRSwarm — Decentralized Swarm Intelligence, Spatial Self-Organization & Consensus Navigation