In recent years, teams of robot and unmanned aerial vehicles (UAVs) have been
commissioned by researchers to enable accurate, online wildfire coverage and
tracking. While the majority of prior work focuses on the coordination and
control of such multi-robot systems, to date, these UAV
该研究聚焦于开发专为无人机设计的基于动态火情和烟雾模型的最佳火灾逃生路线规划系统,首先通过无人机与卫星的信息融合准确定位火灾源位置并使用多通道遥感数据评估周边道路条件,接着实时利用无人机视觉技术提取和分段道路网络并根据道路状况给予优先级,然后根据火势强度、风速和方向计算火源新位置并以火源周围生成烟雾以形成可视化效果,最后基于改进的 A * 算法结合上述因素,无人机能够快速规划避开火源和蔓延区域的逃生路线,从而增强在火灾环境中无人机操作的安全性和效率。