Grid-optimized UAV indoor path planning algorithms in a complex environment

Bing Han,Tengteng Qu,Xiaochong Tong,Jie Jiang,Sisi Zlatanova,Haipeng Wang,Chengqi Cheng

International Journal of Applied Earth Observation and Geoinformation（2022）

引用 10|浏览18

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摘要

•A set of grid-optimized UAV indoor path planning algorithms was proposed.•GO-IAM algorithm established an enriched indoor 3D model of the airspace based on GeoSOT-3D model.•GO-APP algorithm represented the SOTA path planning in regular indoor scenarios.•GO-LBPP algorithm solved the indoor “dead zone” issue in complex multiobstacle airspace.

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关键词

UAV indoor path planning,GeoSOT-3D,Spatial subdivision grid,3D indoor modeling

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