首页|Multi-UAV Cooperative Exploration Based on Task-Density Space Partition
Multi-UAV Cooperative Exploration Based on Task-Density Space Partition
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国家科技期刊平台
NETL
NSTL
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This paper proposes a multi-UAV cooperative exploration approach based on task-density space partition. In the research of multi-UAV cooperative exploration,it is a prevalent cooperative scheme to control robots to work independently in partitioned spaces. Nonetheless,only considering the position of robots during space partition cannot effectively ensure the overall cooperative efficiency. According to research on task density of current time points and positions of robots during exploration,robots with fewer task points are assigned to work in spaces with more tasks in the rolling horizon optimization planning mode,which can reduce the redundancy of multi-robot cooperative work. Comparative research suggests that the overall exploration efficiency is improved.
exploration of unknown environmentsmulti-UAV cooperationrolling horizon planningtask densityspace partition
YU Jiafa
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UAV Department,AVIC China Helicopter Research and Development Institute,Jingdezhen 333001
国家科技期刊平台
NSTL
万方数据
