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Cooperative Indoor Path Planning of Multi-UAVs for High-rise Fire Fighting Based on RRT-forest Algorithm

被引：0
|
作者：
Chen J.-T. [1 ,2 ]
Li H.-Y. [1 ,2 ]
Ren H.-R. [1 ,2 ]
Lu R.-Q. [1 ,2 ]
机构：
[1] School of Automation, Guangdong University of Technology, Guangzhou
[2] Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control, Guangzhou
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2023年 / 49卷 / 12期
基金：
中国国家自然科学基金;
关键词：
cooperative path planning; dynamic programming (DP); High-rise fire fighting multi-UAVs; obstacle proximity detection; RRT-forest algorithm;
D O I：
10.16383/j.aas.c210368
中图分类号：
学科分类号：
摘要：
In the scene of multi-unmanned aerial vehicles (Multi-UAVs) cooperating in high-rise fire fighting mission, path planning in indoor complex fire environment is one of the difficult problems to be solved. This paper proposes the RRT-forest algorithm which aims at the problems existing in traditional rapidly-exploring random tree (RRT) algorithm, such as repeated exploration in the same area, large time consumption and poor feasibility of the results. By adding and developing intermediate random trees, connecting and merging random trees, the RRT-forest algorithm can significantly improve the efficiency of cooperative path planning in complex indoor environment with multi-UAVs for high-rise fire fighting. Moreover, by utilizing dynamic programming (DP) for twice and a novel obstacle proximity detection approach, this method can further improve the feasibility of the result. Finally, simulation is conducted to prove the effectiveness of the proposed algorithm. © 2023 Science Press. All rights reserved.
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页码：2615 / 2626
页数：11
相关论文
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