Multi-UAV Cooperative Exploration Based on Task-Density Space Partition  

基于任务密度空间划分的多无人机协同探索

作　　者：YU Jiafa 

机构地区：[1]UAV Department,AVIC China Helicopter Research and Development Institute,Jingdezhen 333001

出　　处：《Aerospace China》2024年第2期28-35,共8页中国航天(英文版)

摘　　要：This paper proposes a multi-UAV cooperative exploration approach based on task-density space partition.In the research of multi-UAV cooperative exploration,it is a prevalent cooperative scheme to control robots to work independently in partitioned spaces.Nonetheless,only considering the position of robots during space partition cannot effectively ensure the overall cooperative efficiency.According to research on task density of current time points and positions of robots during exploration,robots with fewer task points are assigned to work in spaces with more tasks in the rolling horizon optimization planning mode,which can reduce the redundancy of multi-robot cooperative work.Comparative research suggests that the overall exploration efficiency is improved.

关 键 词：exploration of unknown environments multi-UAV cooperation rolling horizon planning task density space partition 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]