AEROSPACE CHINA

中国航天科技集团有限公司主管

中国航天系统科学与工程研究院主办

ISSN 1671-0940

CN 11-4673/V

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AEROSPACE CHINA ›› 2024, Vol. 25 ›› Issue (2): 28-35.doi: 10.3969/j.issn.1671-0940.2024.02.004

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Multi-UAV Cooperative Exploration Based on Task-Density Space Partition

  

  • 出版日期:2024-07-30 发布日期:2024-12-25

Multi-UAV Cooperative Exploration Based on Task-Density Space Partition

YU Jiafa   

  1. UAV Department, AVIC China Helicopter Research and Development Institute, Jingdezhen 333001
  • Online:2024-07-30 Published:2024-12-25

Abstract: 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.

Key words: exploration of unknown environments, multi-UAV cooperation, rolling horizon planning, task density, space partition