多无人机协同任务规划研究

Multi-UAV Cooperative Mission Planning

多无人机协同作战过程中,任务规划技术对无人机至关重要,贯穿无人机作战的整个过程.总结了多无人机任务规划系统的体系架构、指挥控制方式和涉及关键技术的研究现状;详细阐述了目标分配、路径规划和航迹修正的模型和算法,分析了算法具有不同的特性及适用性,并例举了研究者们对部分算法的改进.最后,提出了多无人机任务规划技术未来的发展趋势以及下一步的工作方向.

In the process of multi-UAV coordinated operation, mission planning is crucial for UAV, and exists throughout the operation of UAV. The paper summarizes the system architecture, control mode and the research status of key technologies in the multi-UAV task planning systems. This paper elaborates the model and algorithm of target assignment, path planning and trajectory correction, analyzes the characteristics and applicability of the algorithm, and illustrates the improvement of some algorithms by researchers. Finally, the future development trend of multi-UAV mission planning technology and our next work direction are put forward.