A review of cooperative path planning of an unmanned aerial vehicle group

Hao ZHANG; Bin XIN; Li-hua DOU; Jie CHEN; Kaoru HIROTA

doi:10.1631/FITEE.2000228

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A review of cooperative path planning of an unmanned aerial vehicle group

Special Feature on Cooperative Multi-UAV Systems | Updated：2022-05-19

- A review of cooperative path planning of an unmanned aerial vehicle group
- 无人机群协同路径规划研究综述
- Frontiers of Information Technology & Electronic Engineering Vol. 21, Issue 12, Pages: 1671-1694(2020)
- Affiliations：
  
  School of Automation, Beijing Institute of Technology, Beijing 100081, China
  State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing 100081, China
  Department of Computational Intelligence and Systems Science, Tokyo Institute of Technology, Tokyo 1528550, Japan
- Author bio：
  
  XIN Bin, E-mail: brucebin@bit.edu.cn
- Funds：
- DOI：10.1631/FITEE.2000228
  CLC： V279;TP242
- Received：11 May 2020，
  
  Revised：2020-;8-18，
  
  Published：2020-12
- Accepted：
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Hao ZHANG, Bin XIN, Li-hua DOU, et al. A review of cooperative path planning of an unmanned aerial vehicle group[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(12): 1671-1694.
DOI：

Hao ZHANG, Bin XIN, Li-hua DOU, et al. A review of cooperative path planning of an unmanned aerial vehicle group[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(12): 1671-1694. DOI： 10.1631/FITEE.2000228.

摘要

作为无人机技术的一个前沿分支，无人机群协同在执行搜索救援、消防、侦察、监视等复杂而广泛的任务中，在功能性和灵活性上都表现出显著优势，因此在民用和军事领域得到越来越多关注。协同路径规划是无人机群共同执行任务的关键问题。本文试图对无人机群协同路径规划的研究作全面回顾。首先，从任务、无人机群和环境3个要素出发，提出一个广义的协同路径规划问题优化框架，作为对不同类型的协同路径规划问题进行综合分类的基础。基于该框架，进一步提出一种分类法，对现有协同路径规划问题分类，以便用统一方式描述不同类型协同路径规划问题。接着，在分类法基础上，对近年来的协同路径规划研究作回顾和统计分析，并重点介绍现有协同路径规划研究中的协同要素。此外，提供一系列具有挑战性的协同路径规划问题，以突出未来研究方向。

Abstract

As a cutting-edge branch of unmanned aerial vehicle (UAV) technology

the cooperation of a group of UAVs has attracted increasing attention from both civil and military sectors

due to its remarkable merits in functionality and flexibility for accomplishing complex extensive tasks

e.g.

search and rescue

fire-fighting

reconnaissance

and surveillance. Cooperative path planning (CPP) is a key problem for a UAV group in executing tasks collectively. In this paper

an attempt is made to perform a comprehensive review of the research on CPP for UAV groups. First

a generalized optimization framework of CPP problems is proposed from the viewpoint of three key elements

i.e.

task

UAV group

and environment

as a basis for a comprehensive classification of different types of CPP problems. By following the proposed framework

a taxonomy for the classification of existing CPP problems is proposed to describe different kinds of CPPs in a unified way. Then

a review and a statistical analysis are presented based on the taxonomy

emphasizing the coordinative elements in the existing CPP research. In addition

a collection of challenging CPP problems are provided to highlight future research directions.

关键词

Keywords

references

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