Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle
نویسندگان
چکیده
This paper presents a novel approach to autonomous extinguishing of indoor fires inside building by Micro-scale Unmanned Aerial Vehicle (MAV). In particular, controlling and estimating the MAV state, detection entrance, multi-modal localization during outdoor-indoor transition, interior motion planning exploration, fire position estimation, are discussed. The performance these elements, as well entire integrated system, evaluated in simulations field tests various demanding real-world conditions. system presented here is part complex multi-MAV solution that won MBZIRC 2020 competition, being used core fire-fighting System (UAS) industrial platform under development. A video attachment this available at website http://mrs.felk.cvut.cz/2020firechallenge-insidefires.
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2021
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2021.3052967