基于改进D*算法的无人机室内路径规划

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。

UAV indoor path planning based on improved D* algorithm

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.