密集环境中无人机协同机动飞行运动规划方法综述

Review on motion planning methods for unmanned aerial vehicle cooperative maneuvering flight in cluttered environment

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。

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.