多无人机协同侦察任务规划方法研究综述

Research on Multi-UAV Cooperative Reconnaissance Mission Planning Methods: an Overview

由于军事侦察任务的复杂性不断提高,且侦察方式逐渐向多无人机协同的方向发展,而任务规划是无人机执行侦察任务的关键技术,因此研究多无人机协同侦察任务规划方法具有重要意义。根据侦察对象的不同将其分为“点对点”协同侦察和“点对面”协同侦察两种任务模式。对于“点对点”协同侦察,对其目标分配算法与航迹规划算法的原理、优势与不足及改进方法进行了分析,介绍了航迹平滑的常用方法。对于“点对面”协同侦察,从环境信息是否可知的角度对当前的侦察方法进行了分析并总结。最后指出了未来多无人机协同侦察的发展趋势为多无人机携带多种载荷对环境未知的区域进行多角度覆盖侦察。

Due to the increasing complexity of military reconnaissance missions and the reconnaissance method gradually developing in the direction of multi-unmanned aerial vehicle(UAV) cooperation,mission planning is the key technology for UAV to perform reconnaissance missions,so it is of great significance to study the missions planning method of multi-UAV cooperative reconnaissance.According to the different reconnaissance objects,it can be divided into two mission modes,“point-to-point” cooperative reconnaissance and “point-to-surface” cooperative reconnaissance.For the “point-to-point” cooperative reconnaissance,this paper analyzes the principle,advantages,disadvantages and improvement methods of its target allocation algorithm and track planning algorithm,and introduces the common methods of track smoothing.For the “point-to-surface” cooperative reconnaissance,it summarizes the current reconnaissance method from the perspective that the environmental information is known or not.Finally,it points out that the development trend of multi-UAV cooperative reconnaissance in the future is that multi-UAV carries multiple loads to perform multi-angle coverage reconnaissance on areas with unknown environment.