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Motion planning for a UAV with a straight or kinked tether[C]// Intelligent Robots and Systems. Madrid, Spain. 2018: 8486−8492. [21] 张飞, 白伟, 乔耀华. 基于改进 D*算法的无人机室内路 径规划 [J]. 智能系统学报, 2019, 14(4): 662–669. ZHANG Fei, BAI Wei, QIAO Yaohua. UAV indoor path planning based on improved D* algorithm[J]. CAAI transactions on intelligent systems, 2019, 14(4): 662–669. [22] YANG L, FENG X, ZHANG J, et al. Multi-ray modeling of ultrasonic sensors and application for Micro-UAV loc￾alization in indoor environments[J]. Sensors, 2019, 19(8): 1770–1777. [23] WALKER O, VANEGAS F, GONZALEZ F, et al. A deep reinforcement learning framework for UAV naviga￾tion in indoor environments[C]// IEEE Aerospace Confer￾ence. Montana, USA. 2019:1-14. [24] 洪洋, 孙秀霞, 王栋. 基于矩形几何特性的小型无人机 快速位姿估计方法 [J]. 中国激光, 2016, 43(5): 232–244. HONG Yang, SUN Xiuxia, WANG Dong. A fast pose es￾timation method for small UAV based on rectangular geo￾metric characteristics[J]. Chinese laser, 2016, 43(5): 232–244. [25] LU Y, XUE Z, XIA G S, et al. A survey on vision-based UAV navigation[J]. Geo-spatial information science, 2018, 21(1): 1–12. [26] 作者简介： 林海涛，硕士研究生，主要研究方 向为无人机控制。 张华，教授，博士生导师，博士后， 主要研究方向为智能控制。近年来承 担科研项目 15 项，其中国家自然科学 基金项目 4 项、国防基础科研项目 1 项、国防重点专项 1 项。发表学术 论文 50 余篇。 李永龙，博士研究生，主要研究方 向为智能感知与智能控制。 ·678· 智 能 系 统 学 报 第 15 卷