RESEARCH ON UAV INDOOR PATH PLANNING ALGORITHM BASED ON GLOBAL SUBDIVISION GRIDS

UAV (Unmanned Aircraft Vehicle) could undertake rescue, traffic, reconnaissance in indoor environment. As the key of indoor autonomous flight and intelligent flight, UAV indoor path planning has great research significance. UAV path planning is to design an optimal feasible path in flight airspace given the UAV related constraints and cost functions. As a special kind of airspace environment, the building environment has complex internal environment and dense obstacles, so the UAV path planning is required to complete the operation quickly and effectively, and ensure the global optimization of the path. Based on the global three-dimensional subdivision reference grid system, this paper will establish the environment model of the spatial grid inside the building, and develop a new path planning algorithm based on the indoor spatial grid. Ultimately, the UAV will complete the path planning task quickly and efficiently inside the building.