A UAV Path Planning Algorithm Based on an Improved D* Lite Algorithm for Forest Firefighting

被引：3

作者：

Luo, Zhaohui ^{[1
]}

Zhang, Youmin ^{[2
]}

Mu, Lingxia ^{[1
]}

Huang, Jing ^{[1
]}

Xin, Jing ^{[1
]}

Liu, Han ^{[1
]}

Jiao, Shangbin ^{[1
]}

Xie, Guo ^{[1
]}

Yi, Yingmin ^{[1
]}

机构：

[1] Xian Univ Technol, Shaanxi Key Lab Complex Syst Control & Intelligen, Xian 710048, Shaanxi, Peoples R China

[2] Concordia Univ, Dept Mech Ind & Aerosp Engn, Montreal, PQ H3G 1M8, Canada

来源：

2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年

基金：

中国国家自然科学基金; 加拿大自然科学与工程研究理事会;

关键词：

Firefighting UAVs; Improved D* Lite; Path planning;

D O I：

10.1109/CAC51589.2020.9327111

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a new type of forest firefighting method. When one or more suspected fire spots are found in the forest, the firefighting Unmanned Aerial Vehicles (UAVs) can safely and quickly reach the desired location, conduct a thorough investigation of the suspected fire spots. If a fire occurs, it is necessary to drop firefighting materials to put out the fire. At the same time, considering the characteristics of limited endurance and low load capability have always limited the applications of UAVs, Unmanned Ground Vehicles (UGVs) arc considered in this paper as an additional and comprehensive problem solution to provide enera and supplement materials for UAVs. In order to enable firefighting UAV to plan a safe and effective path in real time in the complex forest environment, a new improved D*Lite algorithm is proposed for UAVs in the mission team. Even when the 3D workspace is partially known or completely unknown, the algorithm can plan an effective path so that the firefighting UAV can move to the fire spots and UGV in real time.

引用

页码：4233 / 4237

页数：5

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