摘要
在多无人机(Multi-unmanned aerial vehicles,Multi-UAVs)协同执行高层消防救援任务的场景中,室内复杂火场环境下路径规划是亟待解决难题之一.针对快速搜索随机树算法(Rapidly-exploring random tree,RRT)搜索区域受限、耗时较长、结果可行性差等问题,提出RRT森林算法.通过随机选取根节点、生成随机树、连接合并随机树,使高层消防多无人机在复杂室内环境下协同路径规划效率显著提高.此外,采用两次动态规划(Dynamic programming,DP)以及改进障碍物接近检测方法,进一步提高路径的可行性.最终,通过仿真验证算法的有效性.
In the scene of multi-unmanned aerial vehicles(Multi-UAVs)cooperating in high-rise fire fighting mission,path planning in indoor complex fire environment is one of the difficult problems to be solved.This paper proposes the RRT-forest algorithm which aims at the problems existing in traditional rapidly-exploring random tree(RRT)algorithm,such as repeated exploration in the same area,large time consumption and poor feasibility of the results.By adding and developing intermediate random trees,connecting and merging random trees,the RRT-forest algorithm can significantly improve the efficiency of cooperative path planning in complex indoor environment with multi-UAVs for high-rise fire fighting.Moreover,by utilizing dynamic programming(DP)for twice and a novel obstacle proximity detection approach,this method can further improve the feasibility of the result.Finally,simulation is conducted to prove the effectiveness of the proposed algorithm.
作者
陈锦涛
李鸿一
任鸿儒
鲁仁全
CHEN Jin-Tao;LI Hong-Yi;REN Hong-Ru;LU Ren-Quan(School of Automation,Guangdong University of Technology,Guangzhou 510006;Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control,Guangzhou 510006)
出处
《自动化学报》
EI
CAS
CSCD
北大核心
2023年第12期2615-2626,共12页
Acta Automatica Sinica
基金
国家自然科学基金(62033003,62121004,62003093)
广东特支计划本土创新创业团队项目(2019BT02X353)
广东省重点领域研发计划(2021B0101410005)
广东省研究生教育创新计划项目(2020SFKC028)资助。
关键词
高层消防多无人机
协同路径规划
RRT
森林算法
动态规划
障碍物接近检测
High-rise fire fighting multi-UAVs
cooperative path planning
RRT-forest algorithm
dynamic programming(DP)
obstacle proximity detection