Abstract
Aiming at the scene of a rescue in an indoor environment, this paper proposes an indoor real-time visual exploration UAV. UAVs can model the unknown space in 3D space in real-time, obtain obstacle information and flight navigation information, avoid obstacles and fly to the region of interest in real-time. Real-time transmission of three-dimensional space information to the remote end to provide rescue personnel with timely arrangements for rescue plans. The 3D mapping uses a 32-line laser radar, combining high-density point clouds and IMU to obtain accurate and real-time navigation information. The point cloud is then made into a grid map for real-time planning so that the UAV can independently calculate the flight path to the designated area. Then it is transmitted to the remote interface in real-time through WIFI communication so that the rescuers can quickly get the location and route of the rescuers needed and complete the rapid rescue operation.
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