[1]赵子菡,姚文进,张志安. 无人机面向复杂环境的灭火弹投掷路径与避障一体化规划方法[J].机械与电子,2026,44(03):75-82.
　ZHAO Zihan,YAO Wenjin,ZHANG Zhian. Integrated Path-planning and Obstacle-avoidance Method for UAV Fire-suppression Payload Drops in Complex Environment[J].Machinery & Electronics,2026,44(03):75-82.
点击复制

 无人机面向复杂环境的灭火弹投掷路径与避障一体化规划方法()
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
44
期数:
2026年03期
页码:
75-82
栏目:
飞行控制与导航
出版日期:
2026-03-25

文章信息/Info

Title:
 Integrated Path-planning and Obstacle-avoidance Method for UAV Fire-suppression Payload Drops in Complex Environment
文章编号:
1001-2257(2026)03-0075-08
作者:
 赵子菡; 姚文进; 张志安
 (南京理工大学机械工程学院,江苏 南京 210094)
Author(s):
 ZHAO Zihan; YAO Wenjin; ZHANG Zhi’an
 (School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)
关键词:
 ; 无人机; CCRP; 改进DWA
Keywords:
unmanned aerial vehicle; continuously computed release point; improved dynamic window approach
分类号:
V249
文献标志码:
A
摘要:
 针对复杂环境下的无人机投掷灭火弹任务,提出一种结合弹道轨迹反解与动态窗口法的路径规划方法。该方法首先围绕目标点生成多个投放候选点;随后在八叉树地图中对每条弹道轨迹进行采样以实现碰撞检测,剔除存在发生碰撞风险的候选点;最后对剩余候选点从高度、方向匹配维度进行加权评分,确定最优释放点。在执行阶段,将高度、平面速度和自旋角速度解耦控制,采用动态窗口法在平面速度空间中进行采样,综合考虑航向、避障、到目标点距离、速度大小、速度匹配度和速度平滑度,实时生成最优速度指令,引导无人机安全、平稳地抵达投放点,实现精确投放。通过仿真实验对投掷落点精度与避障能力进行了验证,展现出优良的落点精度与避障性能。
Abstract:
 This paper proposes a path planning method for unmanned aerial vehicles (UAVs) tasked with dropping fire suppression payloads in complex environments,which integrates inverse ballistic trajectory computation with the Dynamic Window Approach (DWA).The system first generates multiple candidate release points around the target.Subsequently,collision detection is performed by sampling each ballistic trajectory within an octree map,thereby eliminating candidate points with potential collision risks.The remaining candidates points are then evaluated through weighted metrics based on altitude and directional alignment dimensions,and the optimal release point is ultimately selected.During the execution phase,the altitude,planar velocity,and spin angular velocity are controlled in a decoupled manner.The DWA is used to sample within the planar velocity space,comprehensively considering heading,obstacle avoidance,distance to the target point,speed magnitude,speed matching degree,and velocity smoothness.This enables the real time generation of optimal velocity commands,guiding the UAV safely and smoothly to the release point for precise delivery.Simulation experiments verify the drop point accuracy and obstacle avoidance capability,demonstrating excellent performance in both landing precision and obstacle avoidance.

参考文献/References:

 [1] AKHLOUFI M A,COUTURIER A,CASTRO N A.Unmanned aerial vehicles for wildland fires:sensing,perception,cooperation and assistance[J].Drones,2021,5(1):15.
[2] LIU F Q,FAN T Y,GRANT C,et al.Dragonfly:drone assisted high rise monitoring for fire safety[C] ∥2021 40th International Symposium on Reliable Distributed Systems (SRDS).New York:IEEE,2021:331 342.
[3] 王永亮,蔡志勇,赵红军.大型灭火飞机投水算法研究[J].微计算机信息,2012,28(9):265 266.
[4] 陈磊,寇英信,李战武,等.新型CCAR 与CCRP融合式轰炸瞄准原理建模与分析[J].电光与控制,2013,20(8):58 62.
[5] PEREZ SAURA D,FERNANDEZ CORTIZAS M,PEREZ SEGUI R,et al.Urban firefighting drones precise throwing from UAV[J].Journal of intelligent and robotic systems,2023,108(4):66.
[6] 李静芬.火场环境下四旋翼无人机室内应急路径规划算法研究[D].郑州:郑州轻工业大学,2025.
[7] BAI X,JIANG H K,CUI J J,et al.UAV path planning based on improved A* and DWA algorithms[J].International journal of aerospace engineering,2021:4511252.
[8] 陈锦涛,李鸿一,任鸿儒,等.基于RRT 森林算法的高层消防多无人机室内协同路径规划[J].自动化学报,2023,49(12):2615 2626.
[9] LI K,ZHANG K,ZHANG Z C,et al.A UAV maneuver decision making algorithm for autonomous airdrop based on deep reinforcement learning[J].Sensors 2021,21(6):2233.
[10] ALSHBATAT A I N.Fire extinguishing system for high rise buildings and rugged mountainous terrains utilizing quadrotor unmanned aerial vehicle[J].International journal of image,graphics and signal processing,2018,10(1):23 29.
[11] LI Z L,CHEN H M,LIN Y Y,et al.AeroThrow:an autonomous aerial throwing system for precise payload delivery[J].IEEE Robotics and automation letters,2026,11(3):2794 2801.
[12] HORNUNG A,WURM K M,BENNEWITZ M,et al.OctoMap:an efficient probabilistic 3D mapping framework based on octrees[J].Autonomous robots,2013,34(3):189 206.

相似文献/References:

[1]雷永涛,周 权,张静静. 基于印制电路连接器变形问题的分析和设计改进[J].机械与电子,2019,(01):7.
　,analysis and design improvement of deformation problem based on printed circuit connector[J].Machinery & Electronics,2019,(03):7.
[2]孟繁萃１,张 达２,张 明１. 自然风力对绝缘子结构的影响[J].机械与电子,2019,(01):3.
　,the influence of natural wind on insulator structure[J].Machinery & Electronics,2019,(03):3.
[3]任智勇１,邓晓政１,马丁峰２. 一种发动机试飞数据快速处理方法[J].机械与电子,2019,(01):11.
　,A Fast Processing Method of Multi-subject Engine Flight Test Data[J].Machinery & Electronics,2019,(03):11.
[4]冷雪锋,吴正明. 基于ＳＴＣ１２Ｃ５Ａ６０Ｓ２的１００Ｗ 小型风力发电系统设计[J].机械与电子,2019,(01):15.
　.The Design of 100W Small Wind Power Generation System Based on STC12C5A60S2[J].Machinery & Electronics,2019,(03):15.
[5]查金水,朱志远,邓友银,等. 某大型相控阵雷达测试系统结构设计[J].机械与电子,2019,(01):19.
　,,et al.Structural Design of a Large Phased Array Radar Test System[J].Machinery & Electronics,2019,(03):19.
[6]万 欢,李伟达,李 娟. 一种面向上肢康复的便携式电刺激器设计[J].机械与电子,2019,(01):33.
　,Design of Portable Electric Stimulator for Upper Limb Rehabilitation[J].Machinery & Electronics,2019,(03):33.
[7]郑锦汤１,李玉忠１,２. 紧凑型纯电动汽车动力系统匹配与性能仿真[J].机械与电子,2019,(01):38.
　,Matching and Performance Simulation of Dynamic Systems of Compact Electric Vehicle[J].Machinery & Electronics,2019,(03):38.
[8]吕明珠１,２,苏晓明 １,等. 改进粒子群算法优化的支持向量机在滚动轴承故障诊断中的应用[J].机械与电子,2019,(01):42.
　,,et al.Application of SVM Optimized by IPSO in Rolling Bearing Fault Diagnosis[J].Machinery & Electronics,2019,(03):42.
[9]韩雪莹１,张佳炜２,刘 梦１,等. 集中控制协调多个并网逆变器的谐波补偿[J].机械与电子,2019,(01):49.
　,,et al.Centralized Control Coordination of Harmonic Compensation for Multiple Grid-connected Inverters[J].Machinery & Electronics,2019,(03):49.
[10]蒋 波１,３,周自强２,等. 基于ＰＬＣ的报废汽车拆解线作业控制系统[J].机械与电子,2019,(01):54.
　,,et al.PLC-based ELV Disassembly Line Operation Control System[J].Machinery & Electronics,2019,(03):54.
[11]许 哲,张少帅,郭 璐,等.无人机深度学习去雾算法[J].机械与电子,2021,(04):13.
　XU Zhe,ZHANG Shaoshuai,GUO Lu,et al. Deep Learning Defogging Algorithm for UAV[J].Machinery & Electronics,2021,(03):13.
[12]刘书艳,许 虎,沈 林. 城市复杂电磁环境下无人机低空侵扰行为自动化告警算法[J].机械与电子,2026,44(02):100.
　LIU Shuyan,XU Hu,SHEN Lin. Automated Alert Algorithm for UAV Low-altitude Intrusion Behavior in Urban Complex Electromagnetic Environment[J].Machinery & Electronics,2026,44(03):100.
[13]揭光亮,张志安,潘孝斌. 基于改进RRT算法的无人机航迹规划[J].机械与电子,2026,44(02):105.
　JIE Guangliang,ZHANG Zhian,PAN Xiaobin. UAV Trajectory Planning Based on Improved RRT Algorithm[J].Machinery & Electronics,2026,44(03):105.

备注/Memo

备注/Memo:
 收稿日期:2025-11-25
作者简介:赵子菡 (2001-),女,甘肃兰州人,硕士研究生,研究方向为无人机路径规划算法;姚文进 (1981-),男,江苏南京人,博士,教授,研究方向为弹药总体技术、高效毁伤机理与终点效应;张志安 (1979-),男,江苏南京人,博士,副教授,研究方向为飞行器控制、智能控制算法。
更新日期/Last Update: 2026-04-29