This paper presents a novel autonomous rescue system for bushfire surveillance and evacuation in mountainous terrains using collaborating Unmanned Aerial Vehicles(UAVs)and an Unmanned Ground Vehicle(UGV).The system in...This paper presents a novel autonomous rescue system for bushfire surveillance and evacuation in mountainous terrains using collaborating Unmanned Aerial Vehicles(UAVs)and an Unmanned Ground Vehicle(UGV).The system introduces(1)a 3D hierarchical hybrid navigation algorithm that integrates UAV coverage path planning with UGV reactive path planning,an adaptive communication framework ensuring continuous line-of-sight connectivity,and a multi-objective optimization model balancing rescue efficiency with system constraints.Simulations across three scenarios demonstrate the system's effectiveness,with the multi-vehicle configuration achieving 54%faster evacuation times(38.8 s vs 85.1 s)compared to single-vehicle systems while maintaining full coverage.Results validate the framework's capability to handle complex terrain features and communication constraints in autonomous bushfire monitoring and evacuation operations.展开更多
基金supported by the Australian Research Councilfunding from the Australian Government,via grant AUSMURIB000001 associated with ONR MURI grant N00014-19-1-2571
文摘This paper presents a novel autonomous rescue system for bushfire surveillance and evacuation in mountainous terrains using collaborating Unmanned Aerial Vehicles(UAVs)and an Unmanned Ground Vehicle(UGV).The system introduces(1)a 3D hierarchical hybrid navigation algorithm that integrates UAV coverage path planning with UGV reactive path planning,an adaptive communication framework ensuring continuous line-of-sight connectivity,and a multi-objective optimization model balancing rescue efficiency with system constraints.Simulations across three scenarios demonstrate the system's effectiveness,with the multi-vehicle configuration achieving 54%faster evacuation times(38.8 s vs 85.1 s)compared to single-vehicle systems while maintaining full coverage.Results validate the framework's capability to handle complex terrain features and communication constraints in autonomous bushfire monitoring and evacuation operations.
