Oct 2026
An Efficient Hierarchical Planning Framework for UAV Navigation in Narrow Dynamic Tunnel
Ground robots are common in tunnels, yet rugged terrain and limited space make UAVs superior due to their agility. However, traditional hierarchical planning methods suffer from low global search efficiency, prolonged local re-planning times, and limited capability for diverse dynamic obstacles. To address these issues...
Yan-Xia Liang, Ya-Wen Zheng, Xin Liu et al.
· Unmanned Systems · 0 citations