多无人地面车辆规划方法综述

Overview of Planning Methods for Multiple Unmanned Ground Vehicles

为有效解决多无人地面车辆(Multi-UGVs)规划问题,结合其理论、技术和发展情况,阐述集中式和分散式两种规划架构,从任务规划方面分析和比较基于市场方法、基于竞拍方法、智能优化方法等3种方法,从运动规划方面分析和比较启发式搜索算法、势场法、路线图法等3种方法,总结当前面临的挑战及关键问题,并对发展方向进行展望,为Multi-UGVs规划技术的研究提供参考和借鉴。

In order to effectively solve the planning problem of multiple unmanned ground vehicles(Multi-UGVs),combined with its theory,technology and development,this paper firstly expounds the centralized and decentralized planning architecture.Secondly,it analyzes and compares three methods of marketbased,auctionbased,and intelligent optimization algorithm from the aspect of task planning.Thirdly,it analyzes and compares three methods of heuristic search algorithm,potential field method and roadmap methods from the aspect of motion planning.Finally,it summarizes the current challenges and key problems,and looks forward to the development direction,which can provide reference for the research of Multi-UGVs planning technology.