考虑任务场景的无人机航迹规划算法综述

Review of UAV Track Planning Algorithms Considering Mission Scenarios

随着“低空经济”理念的推广,无人机任务场景不断扩展。无人机航迹规划作为无人机自主作业的关键技术之一,其算法是实现无人机航迹规划的核心技术。以无人机航迹规划算法为对象,阐述各类航迹经典算法的基本思想以及研究现状,分析其适用任务场景。随后系统性总结各类航迹规划算法在单独作业时的优缺点以及在融合趋势下各类算法的特性,为改进算法提供优化方向以及优势融合,实现算法与任务场景高度匹配。最后基于已有分析结论,针对任务场景提出对现有算法改进与融合的展望,以推动无人机领域的发展与应用。

With the promotion of the concept of“low altitude economy”,the UAV mission scenarios are expanding.As one of the key technologies for UAV autonomous operation,UAV trajectory planning algorithm is the core technology to realise UAV trajectory planning.This paper takes UAV trajectory planning algorithms as the object.Firstly,it elaborates the basic ideas of various types of trajectory classical algorithms and the current research status,and analyses their applicable mission scenarios.Subsequently,it systematically summarises the advantages and disadvantages of various types of trajectory planning algorithms when working alone and the characteristics of various types of algorithms under the trend of fusion,so as to provide optimisation direction for the improvement of the algorithms as well as fusion of their advantages,and to achieve a high degree of matching between the algorithms and the mission scenario.Finally,based on the existing analyses and conclusions,we put forward the prospect of improving and integrating the existing algorithms according to the mission scenarios.