复杂建筑空间人员应急疏散的无人机引导模型研究*

为提升紧急情况下复杂建筑空间中应急疏散引导的疏散效率，采用仿真模拟方法，提出1套可适用于复杂建筑空间人员应急疏散的无人机引导模型，该模型通过改进传统算法和构建新方法，实现无人机空间遍历移动规则寻优、无人机引导路径寻优以及基于“障碍物空间场域”建筑空间区域划分。研究结果表明:相较于没有无人机引导，采用单无人机和多无人机协同引导疏散，可大幅缩短整体疏散时间，有效减少疏散路径当量长度，提高疏散效率并保证路径安全，为无人机在应急救援和疏散的应用提供新思路。

Research on UAV guidance model for emergency evacuation of personnel in complex building space

In order to improve the evacuation efficiency of emergency evacuation guidance in the complex building space under emergency,a set of UAV guidance model suitable for emergency evacuation of personnel in complex building space was proposed by using the simulation method.By improving the traditional algorithm and building a new method,the model realized the optimization of UAV space traversal movement rules,the optimization of UAV guidance path,and the division of building space based on “obstacle space field”.The results showed that compared with without UAV guidance,using single UAV and multiple UAVs collaboration to guide evacuation could significantly shorten the overall evacuation time,effectively reduce the equivalent length of evacuation path,improve the evacuation efficiency and ensure the path safety.It provides a new method and new idea for the application of UAV in emergency rescue and evacuation.