自动化学报2023，Vol.49Issue(12)：2615-2626,12.DOI:10.16383/j.aas.c210368
基于RRT森林算法的高层消防多无人机室内协同路径规划
Cooperative Indoor Path Planning of Multi-UAVs for High-rise Fire Fighting Based on RRT-forest Algorithm
摘要
Abstract
In the scene of multi-unmanned aerial vehicles(Multi-UAVs)cooperating in high-rise fire fighting mis-sion,path planning in indoor complex fire environment is one of the difficult problems to be solved.This paper pro-poses 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,simula-tion is conducted to prove the effectiveness of the proposed algorithm.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Key words
High-rise fire fighting multi-UAVs/cooperative path planning/RRT-forest algorithm/dynamic pro-gramming(DP)/obstacle proximity detection引用本文复制引用
陈锦涛,李鸿一,任鸿儒,鲁仁全..基于RRT森林算法的高层消防多无人机室内协同路径规划[J].自动化学报,2023,49(12):2615-2626,12.基金项目
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(2020 SFKC028)资助Supported by National Natural Science Foundation of China(62033003,62121004,62003093),Local Innovative and Research Teams Project of Guangdong Special Support Program(2019 BT02X353),Key Area Research and Development Program of Guangdong Province(2021B0101410005),and Graduate Educa-tion Innovation Program of Guangdong Province(2020SFKC028) （62033003,62121004,62003093）
