High-rise fire-fighting multi-unmanned aerial vehicle cooperative path planning method in urban block environment

Abstract

The invention discloses a high-rise fire-fighting multi-unmanned aerial vehicle cooperative path planning method in an urban block environment, and the method comprises the steps: building a three-dimensional environment model of an urban block through employing a grid method, and screening the three-dimensional environment model, and obtaining a flying region; searching and screening a flying area by using a three-dimensional A * algorithm, and planning a global reference path; using a sensor carried by the high-rise fire-fighting unmanned aerial vehicle for collecting environment informationin real time and updating the three-dimensional environment model in real time, carrying out online local path planning through a particle swarm optimization algorithm, determining whether an unknownobstacle appears on a current path or not, and determining whether the high-rise fire-fighting unmanned aerial vehicle needs dynamic obstacle avoidance or not. In addition, by setting the minimum safety distance, cooperative flight of the multiple high-rise fire-fighting unmanned aerial vehicles is achieved. According to the method, cooperative path planning and autonomous flight of the high-risefire-fighting unmanned aerial vehicle are realized by using a hybrid algorithm, the path planning is reasonable, the response speed is high, obstacles are flexibly avoided in the flight process, andhigher safety is achieved.

Description

Technical field[0001]The invention relates to the field of UAV path planning, and more specifically, to a method for collaborative path planning of high-rise firefighting multiple UAVs in an urban block environment.Background technique[0002]The number of high-rise buildings in my country ranks among the top in the world, but the high-rise buildings are densely populated and combustible, resulting in frequent high-rise building fire accidents. In order to protect people's livelihood, economy, and safeguard the safety of people's lives and property, the state attaches great importance to the fire protection of high-rise buildings, and encourages the use of emerging intelligent equipment such as firefighting drones to play a role in disaster relief and other fields. When a high-rise building catches fire, the traditional fire-fighting modes and equipment face difficulties in space, time and operation, and the fire-fighting drone can be dispatched quickly and reach the fire floor in the...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the unreasonable path planned by the existing method and the inability to cope with the complex and changeable flight environment of urban blocks, the present invention provides a collaborative path planning method for high-rise firefighting and multi-UAVs in the urban block environment

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