Partition and planning:A human-like motion decision for UAV in trap environment  

作　　者：CHEN JinTao ZHOU Qi REN HongRu LI HongYi 

机构地区：[1]School of Automation,Guangdong University of Technology,Guangzhou 510006,China [2]Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of Technology,Guangzhou 510006,Chi

出　　处：《Science China(Technological Sciences)》2024年第4期1226-1237,共12页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.62033003,62373113,and U23A20341);the Natural Science Foundation of Guangdong Province(Grant Nos.2023A1515011527and 2022A1515011506)。

摘　　要：This paper presents a human-like motion decision-making method for unmanned aerial vehicles(UAVs)navigating in trap environments.We proposed a space partitioning method based on sampling and consistency control to conduct a preliminary analysis of the indoor environment based on architectural blueprints.This method reduces the dimensionality of the path planning problem,thereby enhancing the efficiency.Then,we designed a target-switching logic for the dynamic window approach.This improvement endows the UAV with the capability of both real-time obstacle avoidance and global navigation,enhancing the efficiency of the UAV in flying to task spots indoors.Additionally,by applying human-like methods of batch distance perception and obstacle perception to this scheme,we have further enhanced the robustness and efficiency of path decisions.Finally,considering the scenario of high-rise fire rescue,we conducted simulation verification.It demonstrates that our scheme enhances the efficiency and robustness of path planning.

关 键 词：path planning indoor environment spacial partition high-rise fire rescue 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V355