火力与指挥控制2024，Vol.49Issue(7)：156-161,6.DOI:10.3969/j.issn.1002-0640.2024.07.024
未知建筑空间中自主搜索任务规划
An Autonomous Search Planning Method for UAV in Unknown Architectural Space
魏居尚 1綦秀利 1尹成祥 2余晓晗1
作者信息
- 1. 陆军工程大学,南京 210007
- 2. 解放军31453部队,沈阳 110020
- 折叠
摘要
Abstract
This paper is devoted to researching the autonomous search planning method for UAV in unknown architecture space to meet the wide application demand of using UAV instead of people to complete tasks with high risk.Therefore,based on the behavior tree model,an autonomous search mis-sion planning framework is constructed to complete several sub-tasks such as exploring,target detect-ing,low battery returning and real-time mapping,and a detailed explanation of the implementation of nodes is given.Tests on Gazebo simulation platform show the effectiveness and feasibility of the plan-ning framework and method.关键词
无人机/自主探索/目标搜索/任务规划Key words
unmanned aerial vehicle/autonomous exploration/target searching/planning method分类
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魏居尚,綦秀利,尹成祥,余晓晗..未知建筑空间中自主搜索任务规划[J].火力与指挥控制,2024,49(7):156-161,6.
