Research And Implementation Of Multi-UAV Collaborative Exploration Method Technology In Unknown Indoor Space

As an emerging artificial intelligence technology,drones have not only become one of the most concerned fields in recent years,but also rely on efficient and convenient auxiliary means to replace the original tools to serve in the daily work of all walks of life.Compared with traditional aircraft,UAVs have the advantages of low cost and high safety.However,in the face of increasingly complex and varied mission scenarios,in order to improve the reliability and success rate of UAV missions,there are many unmanned aircrafts.The use of computer systems has become particularly important.Multi-UAV systems can perform a variety of complex tasks that a single UAV cannot complete with lower risk,higher execution success rate,and more flexible operation methods.The task processing difficulty of a multi-UAV system is closely related to the number of drones and the complexity of the task.The more drones and the higher the task complexity,the task processing difficulty of the multi-UAV system will be significantly increased.Therefore,in the process of collaborative operation of multi-UAV systems,it is not only necessary to deal with the constraints of a single UAV,but also to consider the coordination strategy between UAVs.This paper focuses on the exploration of unknown indoor space without GPS signal.First,a method for multi-UAV collaborative exploration in unknown indoor space based on dynamic target tracking is proposed.Second,a large-scale unknown multi-UAV based on behavior tree is proposed.The indoor space exploration scheduling control mechanism,and finally a prototype system for multi-UAV collaborative exploration of unknown indoor space is designed and implemented.On this basis,the research results of this paper are experimentally verified.The contributions of this article are as follows:(1)Aiming at the problem of unknown indoor space exploration without GPS signal,this paper proposes a multi-UAV collaborative exploration method based on dynamic target tracking,the core of which is two path planning algorithms.First,a Wall-Around algorithm for autonomous drone navigation around the edge is proposed to autonomously explore the unknown indoor space,and then draw the flight trajectory and the outline of the unknown indoor space;secondly,a Tracking for unknown space target tracking is proposed.-D*Lite algorithm.Through this algorithm,drones can achieve target tracking and relay,and achieve the effect of multi-drone collaborative exploration,thereby expanding the scope of exploration and improving search efficiency.Experiments have proved that the Tracking-D*Lite algorithm can efficiently pursue the target point in an unknown indoor space,and this method can be competent for the task of exploring unknown indoor space.(2)In order to explore large unknown indoor spaces faster and more efficiently,a behavior tree-based multi-UAV collaborative scheduling exploration mechanism is proposed.The mechanism is based on the behavior tree framework to schedule and switch drones and algorithms,and supports multiple teams of drones to explore the same unknown indoor space in parallel,and expands the range that multiple drones can explore.Through the behavior tree,the coordination between multiple drones is completed and the Wall-Around algorithm and Tracking-D*Lite algorithm are adaptively switched on the drone to complete the exploration task of the entire unknown indoor space.Experiments show that the scheduling mechanism can complete the exploration task faster and more efficiently in a large unknown indoor space.(3)Combining the above research results,a prototype system for collaborative exploration of unknown indoor spaces with multiple drones was designed and implemented.This paper uses the ROS platform for design and development,realizes the map boundary surround module based on the Wall-Around algorithm and the relay tracking module based on the Tracking-D*Lite algorithm,uses the Gazebo simulator to build a simulation environment,develops a user interface program,and finally It is integrated into a prototype system for multi-UAV collaborative exploration of unknown indoor spaces,and its effectiveness is verified by simulation experiments.