Partition and planning:A human-like motion decision for UAV in trap environment

作     者：CHEN JinTao ZHOU Qi REN HongRu LI HongYi 

作者机构：School of AutomationGuangdong University of TechnologyGuangzhou 510006China Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of TechnologyGuangzhou 510006Chi 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2024年第67卷第4期

页      面：1226-1237页

核心收录：

学科分类：08[工学] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.62033003,62373113,and U23A20341) the Natural Science Foundation of Guangdong Province(Grant Nos.2023A1515011527and 2022A1515011506) 

主　　题：path planning indoor environment spacial partition high-rise fire rescue 

摘      要：This paper presents a human-like motion decision-making method for unmanned aerial vehicles(UAVs)navigating in trap *** proposed a space partitioning method based on sampling and consistency control to conduct a preliminary analysis of the indoor environment based on architectural *** method reduces the dimensionality of the path planning problem,thereby enhancing the ***,we designed a target-switching logic for the dynamic window *** improvement endows the UAV with the capability of both real-time obstacle avoidance and global navigation,enhancing the efficiency of the UAV in flying to task spots ***,by applying human-like methods of batch distance perception and obstacle perception to this scheme,we have further enhanced the robustness and efficiency of path ***,considering the scenario of high-rise fire rescue,we conducted simulation *** demonstrates that our scheme enhances the efficiency and robustness of path planning.