Drone technology is advancing rapidly and represents significant benefits during firefighting operations. This paper presents a novel approach for autonomous firefighting missions for Unmanned Aerial Vehicles (UAVs). The proposed UAV framework consists of a local planner module that finds an obstacle-free path to guide the vehicle toward a target zone. After detecting the target point, the UAV plans an optimal trajectory to perform a precision ballistic launch of an extinguishing ball, exploiting its kinematics. The generated trajectory minimises the overall traversal time and the final state error while respecting UAV dynamic limits. The performance of the proposed system is evaluated both in simulations and real tests with randomly positioned obstacles and target locations. The proposed framework has been employed in the 2022 UAV Competition of the International Conference on Unmanned Aircraft Systems (ICUAS), where it successfully completed the mission in several runs of increasing difficulty, both in simulation and in real scenarios, achieving third place overall. A video attachment to this paper is available on the website https://www.youtube.com/watch?v=_hdxX2xXkVQ.

无人机技术正在迅速发展，并在消防行动中带来显着的好处。本文提出了一种用于无人机（UAV）自主消防任务的新方法。所提出的无人机框架由本地规划器模块组成，该模块可以找到无障碍路径来引导车辆驶向目标区域。检测到目标点后，无人机会利用其运动学规划最佳轨迹，以精确弹道发射灭火球。生成的轨迹最大限度地减少了总体遍历时间和最终状态误差，同时遵守无人机动态限制。所提出系统的性能在随机放置的障碍物和目标位置的模拟和实际测试中进行评估。该框架已在2022年国际无人机系统会议（ICUAS）无人机竞赛中得到应用，在模拟和真实场景的多次难度递增的比赛中成功完成任务，获得总成绩第三名。本文的视频附件可在网站 https://www.youtube.com/watch?v=_hdxX2xXkVQ 上获取。