[1]ZHANG Fei,BAI Wei,QIAO Yaohua,et al.UAV indoor path planning based on improved D* algorithm[J].CAAI Transactions on Intelligent Systems,2019,14(4):662-669.[doi:10.11992/tis.201803031]
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UAV indoor path planning based on improved D* algorithm

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 14 Number of periods: 2019 4 Page number: 662-669 Column: 学术论文—智能系统 Public date: 2019-07-02
Title:
UAV indoor path planning based on improved D* algorithm
Author(s):
ZHANG Fei1;  BAI Wei2;  QIAO Yaohua3;  XING Boyang2;  ZHOU Pengcheng4
1. Shandong Luneng Intelligence Technology Company Limited, Ji’nan 250101, China;
2. School of Automation, Beijing Institute of Technology, Beijing 100081, China;
3. State Grid Shandong Electric Power Company, Ji’nan 250000, China;
4. BIT Industrial Technology Research Institute, Kunming Company Limited, Kunming 650000, China
Keywords:
UAV; indoor positioning system; path planning; autonomous navigation; obstacle avoidance; QR code array; ArUco; improved D* algorithm
CLC:
TP29
DOI:
10.11992/tis.201803031
Abstract:
Considering the navigation problem when there is no indoor GPS signal in a multi-rotorcraft, in this study, an indoor positioning system is constructed using a two-dimensional code array, and the indoor path planning of the unmanned aerial vehicle (UAV) is realized based on an improved D* algorithm, in order to realize autonomous navigation and obstacle avoidance of the aircraft indoors. Based on an ArUco two-dimensional code, the ground array was designed to provide accurate global positioning information for the UAV. The improved D* algorithm was used to ensure that the UAV can autonomously conduct path planning and flight during flight. Design experiments were carried out to simulate and verify the improved D* algorithm, which was further verified in an actual UAV flight application. The experimental results show that the improved algorithm can better guarantee the flight safety of the drone compared with the traditional D* algorithm. Moreover, the positioning method based on the two-dimensional code array is highly accurate, low-cost, and easy to implement.
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