[1]张飞,白伟,乔耀华,等.基于改进D*算法的无人机室内路径规划[J].智能系统学报,2019,14(4):662-669.[doi:10.11992/tis.201803031]
　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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基于改进D*算法的无人机室内路径规划

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 14 期数: 2019年第4期 页码: 662-669 栏目: 学术论文—智能系统 出版日期: 2019-07-02
Title:
UAV indoor path planning based on improved D* algorithm
作者:
张飞1, 白伟2, 乔耀华3, 邢伯阳2, 周鹏程4
1. 山东鲁能智能技术有限公司, 山东 济南 250101;
2. 北京理工大学 自动化学院, 北京 100081;
3. 国网山东省电力公司, 山东 济南 250000;
4. 昆明北理工产业技术研究院有限公司, 云南 昆明 650000
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
关键词:
无人机; 室内定位系统; 路径规划; 自主导航; 避障; 二维码数组; ArUco; 改进D*算法
Keywords:
UAV; indoor positioning system; path planning; autonomous navigation; obstacle avoidance; QR code array; ArUco; improved D* algorithm
分类号:
TP29
DOI:
10.11992/tis.201803031
摘要:
针对多旋翼飞行器室内无GPS信号时的导航问题，本文采用二维码阵列构建室内定位系统，基于改进D*算法实现无人机室内路径规划，从而实现飞行器在室内的自主导航和避障。基于ArUco二维码设计了地面阵列为无人机提供了全局精确定位信息，使用改进D*算法保证了无人机在飞行过程中能自主进行路径规划和飞行。通过设计实验对改进D*算法进行了数值仿真验证，并在实际无人机的飞行中应用。实验结果证明：所提改进算法较传统D*算法能更好地保证无人机的飞行安全，同时基于二维码阵列的定位方式不但具有较高精度同时成本低易于实现。
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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备注/Memo

收稿日期:2018-03-20。
作者简介:张飞,男,1988年生,工程师,主要研究方向为无人机检测、无人机巡检技术;白伟,男,1992年生,硕士研究生,主要研究方向为无人机控制;乔耀华,男,1982年生,副高级工程师,主要研究方向为输电运维检修、输电线路运行、检修管理。发表学术论文专著6项。
通讯作者:张飞.E-mail:821661887@qq.com

更新日期/Last Update: 2019-08-25
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