RRT-Forest: An Efficient Multi-UAV Cooperative Path Planning Method for Indoor Rescue
Jintao Chen, Hongyi Li, Qi Fan Zhou · 2023
Sending multi unmanned aerial vehicles (UAVs) to extinguish indoor flames is a feasible solution for the difficulty of fire rescuing in high-rise constructions. However, the difficulty of cooperative path planning hinders the application of multi-UAVs in such a dangerous task. Aiming at the difficulty, an improved RRT-Forest algorithm is proposed, which could be operated in high dimensional path planning space with extremely complex and nonconvex environments, to realize efficient multi-UAVs cooperative global path planning. Numerical simulation results indicate that the method is feasible and efficient in obtaining collision-free paths for multi-UAVs.