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赵鹏程
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Personal Information
  • Supervisor of Master's Candidates
  • Name (Pinyin):Zhao Pengcheng
  • Date of Birth:1993-09-05
  • E-Mail:
  • Date of Employment:2019-12-07
  • Administrative Position:高级实验师
  • Education Level:With Certificate of Graduation for Doctorate Study
  • Business Address:武汉大学信息学部遥感信息工程学院（5号楼）315办公室
  • Gender:Male
  • Contact Information:+86 15972003670
  • Status:Employed
  • Alma Mater:武汉大学
  • Teacher College:School of Remote Sensing and Information Engineering
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Paper Publications
Current position: Home   >   Scientific Research   >   Paper Publications

An Improved Probabilistic Roadmap Planning Method for Safe Indoor Flights of Unmanned Aerial Vehicles

  • Date of Publication:2025-01-07
  • Hits:

  • DOI number: 

    10.3390/drones7020092

  • Affiliation of Author(s): 

    School of Remote Sensing and Information Engineering, Wuhan University, China

  • Journal: 

    DRONES

  • Key Words: 

    indoor environment,point cloud,unmanned aerial vehicle,path planning and optimization,probabilistic roadmap

  • Abstract: 

    Unmanned aerial vehicles (UAVs) have been widely used in industry and daily life, where safety is the primary consideration, resulting in their use in open outdoor environments, which are wider than complex indoor environments. However, the demand is growing for deploying UAVs indoors for specific tasks such as inspection, supervision, transportation, and management. To broaden indoor applications while ensuring safety, the quadrotor is notable for its motion flexibility, particularly in the vertical direction. In this study, we developed an improved probabilistic roadmap (PRM) planning method for safe indoor flights based on the assumption of a quadrotor model UAV. First, to represent and model a 3D environment, we generated a reduced-dimensional map using a point cloud projection method. Second, to deploy UAV indoor missions and ensure safety, we improved the PRM planning method and obtained a collision-free flight path for the UAV. Lastly, to optimize the overall mission, we performed postprocessing optimization on the path, avoiding redundant flights. We conducted experiments to validate the effectiveness and efficiency of the proposed method on both desktop and onboard PC, in terms of path-finding success rate, planning time, and path length. The results showed that our method ensures safe indoor UAV flights while significantly improving computational efficiency.

  • Co-author: 

    Mingyao,Ai,Jin, Shaohua,Wang, Qingeng, Pengcheng,Zhao, Qingwu,Hu

  • Indexed by: 

    Journal paper

  • Discipline: 

    Engineering

  • Document Type: 

    J

  • Volume: 

    7

  • Issue: 

    2

  • Translation or Not: 

    no

  • CN No.: 

    Scopus:2-s2.0-85149143994,WOS:000939124900001,EI:20243416895168

  • Date of Publication: 

    2023-02-01

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