摘要
多无人机协同路径规划是多无人机协同控制的重要研究内容之一。首先介绍了多无人机协同路径规划的问题描述、数学模型和求解框架,然后总结出在路径规划中常见的几类环境表示方法,最后分别介绍了在多无人机协同路径规划中用到的几类路径规划算法。此外还提出了多无人机协同路径规划应关注的几个问题及可能的发展方向。
Cooperative path planning is one of the important research subjects on cooperative control for multiple UAVs.Firstly,problem formulation,mathematical models and solution frameworks are given.Secondly,several classes of environment representation methods for path planning are summarized.Lastly,several classes of path planning algorithms used in cooperative path planning for multiple UAVs are introduced respectively.Issues that should be paid attention to and their possible future directions are also put forward.
出处
《飞行力学》
CSCD
北大核心
2009年第5期1-5,10,共6页
Flight Dynamics
基金
国家863计划资助(2006AA04Z260)
国家自然科学基金资助(60674103)
航空科学基金资助(2006ZC51026)
关键词
协同控制
协同路径规划
环境表示
cooperative control
cooperative path planning
environment representation
