旋翼无人机的多机协同自主探索决策技术综述

Review of decision-making technology in multi-UAV collaborativeautonomous exploration for multirotors

随着探索场景复杂性与任务要求不断提高,多机协同自主探索的研究受到越来越多的关注。其中旋翼无人机凭借其敏捷特性,常被用于复杂小范围场景的自主探索任务,对协同探索系统的实时性与自主性具有更高要求。聚焦于旋翼无人机的多机协同探索系统,并重点关注未知环境探索策略以及多机任务分配策略,对当前决策技术的研究进展进行了介绍并对其特点进行分析总结。将未知环境探索策略归类为基于边界、采样以及两者结合的方法进行介绍和对各自特点进行分析;将多机任务分配策略归类为基于市场、拍卖的方法,介绍了两类方法用于任务分配问题的建模过程,并重点关注协同探索工作在现实世界中的具体应用,特别针对考虑通讯限制的任务分配策略进行分析,分析了在限制场景下协同探索面临的挑战以及当前方法。最后,对多机协同探索技术的研究现状进行总结,并对未来研究重点进行了展望。

As the complexity of exploration scenarios and task requirements continue to increase,single autonomous exploration has gradually been unable to meet the efficiency and stability requirements of tasks.Therefore,research on multi-UAV collaborative autonomous exploration has received more and more attention.Among them,the multirotors are often used for autonomous exploration tasks in complex and small-scale scenes due to their agility,which has higher requirements for the real-time performance and autonomy of the collaborative exploration system.Therefore,this paper focuses on the multi-UAV collaborative exploration system of multirotors,and focuses on the unknown environment exploration strategy and multi-UAV task allocation strategy.It introduces the current research progress of decision-making technology in detail and analyzes and summarizes its characteristics.Specifically,this paper classifies the unknown environment exploration strategies as methods based on frontier,sampling,and the combination of the two,respectively introduces them and analyzes their characteristics.Moreover,this paper classifies multi-UAV task allocation strategies as methods based on markets and auctions,introduces in detail the modeling process of two types of methods for task allocation problems,and focuses on the specific application of collaborative exploration work in the real world,especially for the strategies considering communication limits,and discuss collaborative exploration in limited scenarios challenges and current approaches.Finally,the research status of multi-UAV collaborative exploration technology is summarized,and the future research focus is prospected with reference significance.