未知建筑空间中自主搜索任务规划OA北大核心CSTPCD

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.