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
研究未知建筑空间中无人机自主搜索任务规划方法,以满足使用无人机代替人完成危险性较高任务的广泛应用需求.基于行为树模型,构建了一个有效规划框架,能够实现未知环境探索、目标检测、低电量返程及实时建图等多个子任务,并详细阐述了行为树节点的实现过程.在Gazebo仿真平台上进行实验,结果证明了该规划框架的有效性和可行性.
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引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据