| 引用本文: | 牛轶峰,刘天晴,李杰,等.密集环境中无人机协同机动飞行运动规划方法综述.[J].国防科技大学学报,2022,44(4):1-12.[点击复制] |
| NIU Yifeng,LIU Tianqing,LI Jie,et al.Review on motion planning methods for unmanned aerial vehicle cooperative maneuvering flight in cluttered environment[J].Journal of National University of Defense Technology,2022,44(4):1-12[点击复制] |
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| 密集环境中无人机协同机动飞行运动规划方法综述 |
| 牛轶峰,刘天晴,李杰,贾圣德 |
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(国防科技大学 智能科学学院, 湖南 长沙 410073)
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| 摘要: |
| 从单无人机机动飞行向多机协同扩展的通用规划框架出发,介绍了其中各模块相关研究的基本原理、代表性方法和前沿研究,主要包括用于环境障碍感知的实时导航地图构建、离散空间的路径规划、连续空间的轨迹规划、基于离散连续混合空间的规划、多航迹或轨迹的协同规划。综合无人机通用规划框架的关键技术,提出了无人机协同机动规划下一步需要重点研究的方向。 |
| 关键词: 无人机 协同控制 运动规划 机动飞行 密集环境 避障 |
| DOI：10.11887/j.cn.202204001 |
| 投稿日期：2021-11-23 |
| 基金项目:国家自然科学基金资助项目(61876187,61806217) |
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| Review on motion planning methods for unmanned aerial vehicle cooperative maneuvering flight in cluttered environment |
| NIU Yifeng, LIU Tianqing, LI Jie, JIA Shengde |
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(College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China)
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| Abstract: |
| The basic principle, representative methods, and state-of-the-art research of the sub-module related research within the general framework of cooperative maneuvering flight planning from single UAV (unmanned aerial vehicle) maneuvering flight to multi-UAV cooperative planning were introduced. It mainly included real-time navigation map construction, discrete-space path planning, continuous-space trajectory planning, hybrid planning based on discrete-space and continuous-space, and multi-courses/trajectories cooperative planning. The next research directions were proposed based on the major technologies of the planning framework. |
| Keywords: unmanned aerial vehicle cooperative control motion planning maneuvering flight cluttered environment obstacle avoidance |
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