无线电工程2025，Vol.55Issue(3)：621-632,12.DOI:10.3969/j.issn.1003-3106.2025.03.020
基于视觉的多无人机协同探索系统研究
Research on Vision-based Multi-UAV Collaborative Exploration System
摘要
Abstract
To address the prevalent issues in current UAV exploration schemes,such as low efficiency,lengthy light projection processes,and insufficient efficiency of planning algorithms,an efficient vision-based exploration system based on viewpoint spheres and topological maps is innovatively proposed.This system optimizes exploration strategies and designs multi-UAV communication strategies and multi-UAV viewpoint selection strategies,extending the single-UAV exploration system into a distributed multi-UAV collaborative exploration system.This effectively enhances exploration efficiency in unknown environments.Actual experimental data demonstrates that the proposed vision-based multi-UAV collaborative exploration system reduces the average exploration time by 6.5%and the average computation time by 77%compared to existing mainstream solutions,which is significant for efficient autonomous exploration and collaborative work of UAVs in complex and unknown environments.关键词
自主探索/规划/建图/无人机/分布式系统Key words
autonomous exploration/planning/mapping/UAV/distributed system分类
计算机与自动化引用本文复制引用
章坤,李瑞,陈聪,史莹晶..基于视觉的多无人机协同探索系统研究[J].无线电工程,2025,55(3):621-632,12.基金项目
国家自然科学基金(61973055) （61973055）
四川省自然科学基金(2023NSFSC0511)National Natural Science Foundation of China(61973055) （2023NSFSC0511）
Sichuan Provincial Natural Science Foundation of China(2023NSFSC0511) （2023NSFSC0511）
