多无人机协同规划研究综述

doi:10.3778/j.issn.1002-8331.2405-0110

摘要/Abstract

摘要： 无人机在各行各业中发挥重要作用，多无人机之间的合作已成为研究热点。针对任务分配与路径规划两个核心问题，整理和分析了多无人机协同规划两个关键问题之间的复杂性，以及子问题间的信息耦合因素，并重点探讨了解耦策略；从数学模型方面对多无人机协同规划问题的通用模型进行描述，整理归纳出常见环境建模方法和多目标优化求解的约束条件；综述了基于集中式控制和分布式控制的任务规划方法，以及启发式算法在多无人机协同规划中的应用和研究进展，并重点介绍了多无人机协同规划问题面临实时性要求下的协同规划方法；结合典型研究，讨论了多无人机协同规划问题的未来研究方法与挑战，展望多无人机协同规划的发展。

关键词: 无人机, 解耦策略, 智能算法, 任务分配, 路径规划

Abstract: Unmanned aerial vehicles (UAVs) play an important role in various industries, and the cooperation between multiple UAVs has become a research hotspot. Aiming at the two core problems of task assignment and path planning, firstly, the complexity between the two key problems of multi-UAV cooperative planning and the information coupling factors between the sub-problems are sorted out and analyzed, and the decoupling strategy is focused on. Secondly, the general model of multi-UAV cooperative planning problem is described in terms of mathematical model, and the common environment modeling methods and constraints of multi-objective optimization solution are sorted out and summarized. Thirdly, the task planning methods based on centralized and distributed control, and the application and research progress of heuristic algorithms in multi-UAV cooperative planning are summarized, and the cooperative planning methods under the real-time requirements of the multi-UAV cooperative planning problem are also emphasized. Lastly, in conjunction with the typical research, the future research methods and challenges of the multi-UAV cooperative planning problem are discussed, and the development of the multi-UAV cooperative planning is anticipated.

Key words: unmanned aerial vehicle (UAV), decoupling strategy, intelligent algorithm, task allocation, path planning

宁聪, 范菁, 孙书魁. 多无人机协同规划研究综述[J]. 计算机工程与应用, 2025, 61(1): 42-58.

NING Cong, FAN Jing, SUN Shukui. Review of Multi-UAV Collaborative Planning Research[J]. Computer Engineering and Applications, 2025, 61(1): 42-58.

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