多无人机协同任务规划方法研究综述

doi:10.12305/j.issn.1001-506X.2024.10.21

Abstract

Abstract:

With the development of communication technology, the future development of multi-unmanned aerial vehicle (UAV) system is trending towards clusterization, autonomy, and intelligence. Through information fusion and capability complementation among units, multi-UAV system can break through their inherent technology limitations and form diversified mission capabilities. Mission planning serves as the top-level design for collaborative applications of multi-UAV system. It is a combinatorial optimization problem with constraints, seeking to obtain optimal mission execution plans that satisfy requirements, with the consideration of mission demands, unit capabilities, and environmental situations. This paper summarizes existing research result from two perspectives: problem representation modeling and plan solution evaluation. Specifically, it reviews the research result of problem representation modeling in terms of scenario analysis, task allocation, and trajectory planning, and examines solution evaluation in terms of solving algorithms and performance assessment. Finally, several directions worthy of attention in future research on UAV mission planning are analyzed.

Key words: multi-unmanned aerial vehicle (UAV) system, mission planning, problem representation and modeling, plan solving and evaluation

CLC Number:

Jianfeng WANG, Gaowei JIA, Zheng GUO, Zhongxi HOU. Review of research on multi-UAV collaborative mission planning method[J]. Systems Engineering and Electronics, 2024, 46(10): 3437-3450.

Figures/Tables 7

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方法名称	内容	优/缺点
可视图法	连接起始点、目标点和多边形障碍顶点构成网络	构建简单, 但路径与障碍相距较近, 安全性低
Voronoi图法	由围绕障碍物的多个共边多边形组成	路径安全性高, 但路径多在障碍之间的开阔区域, 路径质量不高
栅格法	使用互不重叠的单元离散区域	不需考虑障碍情况, 但数据量大, 需平衡离散精度和搜索效率
概率路标图法	空间预设大量采样点, 在此基础上搜索生成可行路径	复杂障碍场景中可生成可行路径, 但受采样点设置影响大
快速随机树法	从起点开始, 边布置采样点边搜索路径, 直至到达终点	适用于动态复杂障碍场景, 但受采样点生成参数影响大, 随机性高
人工势场法	构建虚拟力场引导目标沿最大梯度方向运动	适用于复杂多障碍场景, 但势场函数设置复杂

曲线名称	内容	优/缺点
Dubins曲线	由直线和圆弧组成, 可增加盘旋或调整曲率控制长度	计算简单且长度最短, 但直线与圆弧连接处曲率不连续
贝塞尔曲线	由线段与节点组成, 通过控制节点来调整曲线空间分布	曲率连续, 但多段拼接困难, 不能进行局部调整
B样条曲线	调整贝塞尔曲线的基函数, 以分段低阶曲线代替高阶曲线	支持多段拼接, 可局部修改, 但计算复杂
毕达哥拉斯曲线	满足毕达哥拉斯条件的参数化多项式曲线	曲率连续且长度可控, 但控制参数复杂

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Review of research on multi-UAV collaborative mission planning method

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