无人机群协同路径规划研究综述

张昊; 辛斌; 窦丽华; 陈杰; Kaoru HIROTA

doi:10.1631/FITEE.2000228

Your Location：

Home >

Browse articles >

无人机群协同路径规划研究综述

多无人机系统协作专题 | Updated：2022-05-19

- 无人机群协同路径规划研究综述
- A review of cooperative path planning of an unmanned aerial vehicle group
- 信息与电子工程前沿（英文） 2020年21卷第12期页码：1671-1694
- 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：
  
  Project supported by the National Natural Science Foundation of China (Nos. 61822304, 61673058, 61621063, 61720106011, and 62088101), the NSFC-Zhejiang Joint Fund for the Integration of Industrialization and Informatization (No. U1609214), the Consulting Research Project of the Chinese Academy of Engineering (No. 2019-XZ-7), the Beijing Advanced Innovation Center for Intelligent Robots and Systems, and the Peng Cheng Laboratory
- DOI：10.1631/FITEE.2000228
  中图分类号： V279;TP242
- 收稿：2020-05-11，
  
  修回：2020-;8-18，
  
  纸质出版：2020-12
- Accepted：
Scan QR Code
张昊, 辛斌, 窦丽华, 等. 无人机群协同路径规划研究综述[J]. 信息与电子工程前沿（英文）, 2020,21(12):1671-1694.

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.
张昊, 辛斌, 窦丽华, 等. 无人机群协同路径规划研究综述[J]. 信息与电子工程前沿（英文）, 2020,21(12):1671-1694. DOI： 10.1631/FITEE.2000228.

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

S Aggarwal , , , N Kumar . . Path planning techniques for unmanned aerial vehicles: a review, solutions, and challenges . . Comput Commun , , 2020 . . 149 270 - - 299 . . DOI: 10.1016/j.comcom.2019.10.014 http://doi.org/10.1016/j.comcom.2019.10.014 . .

N Ajlouni , , , AA Hameed , , , F Ajlouni , , , 等 . . Design of a genetically fuzzy mapped swarms PID controller for UAV . . Applied Research Int Conf on Science, Technology, Engineering & Mathematics , , 2018 . . p.39 - - 49 . . . .

GSC Avellar , , , GAS Pereira , , , LCA Pimenta , , , 等 . . Multi-UAV routing for area coverage and remote sensing with minimum time . . Sensors , , 2015 . . 15 ( ( 11 ): ): 27783 - - 27803 . . DOI: 10.3390/s151127783 http://doi.org/10.3390/s151127783 . .

H Azprua , , , GM Freitas , , , DG Macharet , , , 等 . . Multi-robot coverage path planning using hexagonal segmentation for geophysical surveys . . Robotica , , 2018 . . 36 ( ( 8 ): ): 1144 - - 1166 . . DOI: 10.1017/S0263574718000292 http://doi.org/10.1017/S0263574718000292 . .

L Babel . . Coordinated target assignment and UAV path planning with timing constraints . . J Intell Robot Syst , , 2019 . . 94 ( ( 3 ): ): 857 - - 869 . . DOI: 10.1007/s10846-018-0910-9 http://doi.org/10.1007/s10846-018-0910-9 . .

F Balampanis , , , I Maza , , , A Ollero . . Coastal areas division and coverage with multiple UAVs for remote sensing . . Sensors , , 2017 . . 17 ( ( 4 ): ): 808 DOI: 10.3390/s17040808 http://doi.org/10.3390/s17040808 . .

H Binol , , , E Bulut , , , K Akkaya , , , 等 . . Time optimal multi-UAV path planning for gathering ITS data from roadside units . . Proc IEEE 88 th Vehicular Technology Conf , , 2018 . . p.1 - - 5 . . DOI: 10.1109/VTCFall.2018.8690730 http://doi.org/10.1109/VTCFall.2018.8690730 . .

Y Bouzid , , , Y Bestaoui , , , H Siguerdidjane . . Guidance-control system of a quadrotor for optimal coverage in cluttered environment with a limited onboard energy: complete software . . J Intell Robot Syst , , 2019 . . 95 ( ( 2 ): ): 707 - - 730 . . DOI: 10.1007/s10846-018-0914-5 http://doi.org/10.1007/s10846-018-0914-5 . .

F akıcı , , , H Ergezer , , , U Irmak , , , 等 . . Coordinated guidance for multiple UAVs . . Trans Inst Meas Contr , , 2016 . . 38 ( ( 5 ): ): 593 - - 601 . . DOI: 10.1177/0142331215583102 http://doi.org/10.1177/0142331215583102 . .

DW Casbeer , , , DB Kingston , , , RW Beard , , , 等 . . Cooperative forest fire surveillance using a team of small unmanned air vehicles . . Int J Syst Sci , , 2006 . . 37 ( ( 6 ): ): 351 - - 360 . . DOI: 10.1080/00207720500438480 http://doi.org/10.1080/00207720500438480 . .

F Causa , , , G Fasano , , , M Grassi . . Multi-UAV path planning for autonomous missions in mixed GNSS coverage scenarios . . Sensors , , 2018 . . 18 ( ( 12 ): ): 4188 DOI: 10.3390/s18124188 http://doi.org/10.3390/s18124188 . .

U Cekmez , , , M Ozsiginan , , , OK Sahingoz . . Multi-UAV path planning with parallel genetic algorithms on CUDA architecture . . Proc Genetic Evolutionary Computation Conf , , 2016 . . p.1079 - - 1086 . . DOI: 10.1145/2908961.2931679 http://doi.org/10.1145/2908961.2931679 . .

J Chen , , , WZ Zha , , , ZH Peng , , , 等 . . Cooperative area reconnaissance for multi-UAV in dynamic environment . . Proc 9 th Asian Control Conf , , 2013 . . p.1 - - 6 . . DOI: 10.1109/ASCC.2013.6606210 http://doi.org/10.1109/ASCC.2013.6606210 . .

J Chen , , , X Zhang , , , B Xin , , , 等 . . Coordination between unmanned aerial and ground vehicles: a taxonomy and optimization perspective . . IEEE Trans Cybern , , 2016 . . 46 ( ( 4 ): ): 959 - - 972 . . DOI: 10.1109/TCYB.2015.2418337 http://doi.org/10.1109/TCYB.2015.2418337 . .

QY Chen , , , YF Lu , , , GW Jia , , , 等 . . Path planning for UAVs formation reconfiguration based on Dubins trajectory . . J Centr South Univ , , 2018 . . 25 ( ( 12 ): ): 2664 - - 2676 . . DOI: 10.1007/s11771-018-3944-z http://doi.org/10.1007/s11771-018-3944-z . .

X Chen , , , GY Li , , , XM Chen . . Path planning and cooperative control for multiple UAVs based on consistency theory and Voronoi diagram . . Proc 29 th Chinese Control and Decision Conf , , 2017 . . p.881 - - 886 . . DOI: 10.1109/CCDC.2017.7978644 http://doi.org/10.1109/CCDC.2017.7978644 . .

YB Chen , , , JQ Yu , , , XL Su , , , 等 . . Path planning for multi-UAV formation . . J Intell Robot Syst , , 2015 . . 77 ( ( 1 ): ): 229 - - 246 . . DOI: 10.1007/s10846-014-0077-y http://doi.org/10.1007/s10846-014-0077-y . .

YB Chen , , , JQ Yu , , , YS Mei , , , 等 . . Trajectory optimization of multiple quad-rotor UAVs in collaborative assembling task . . Chin J Aeron , , 2016 . . 29 ( ( 1 ): ): 184 - - 201 . . DOI: 10.1016/j.cja.2015.12.008 http://doi.org/10.1016/j.cja.2015.12.008 . .

XM Cheng , , , D Cao , , , CT Li . . Survey of cooperative path planning for multiple unmanned aerial vehicles . . Appl Mech Mater , , 2014 . . 668-669 388 - - 393 . . DOI: 10.4028/www.scientific.net/AMM.668-669.388 http://doi.org/10.4028/www.scientific.net/AMM.668-669.388 . .

DH Cho , , , DS Jang , , , HL Choi . . Sampling-based tour generation of arbitrarily oriented Dubins sensor platforms . . J Aerosp Inform Syst , , 2019 . . 16 ( ( 5 ): ): 168 - - 186 . . DOI: 10.2514/1.I010683 http://doi.org/10.2514/1.I010683 . .

RK Dewangan , , , A Shukla , , , WW Godfrey . . Three dimensional path planning using grey wolf optimizer for UAVs . . Appl Intell , , 2019 . . 49 ( ( 6 ): ): 2201 - - 2217 . . DOI: 10.1007/s10489-018-1384-y http://doi.org/10.1007/s10489-018-1384-y . .

YL Ding , , , B Xin , , , J Chen , , , 等 . . Curvature-constrained path elongation with expected length for Dubins vehicle . . Automatica , , 2019a . . 108 108495 DOI: 10.1016/j.automatica.2019.108495 http://doi.org/10.1016/j.automatica.2019.108495 . .

YL Ding , , , B Xin , , , J Chen , , , 等 . . Precedence-constrained path planning of messenger UAV for air-ground coordination . . Contr Theory Technol , , 2019b . . 17 ( ( 1 ): ): 13 - - 23 . . DOI: 10.1007/s11768-019-8148-z http://doi.org/10.1007/s11768-019-8148-z . .

LE Dubins . . On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents . . Am J Math , , 1957 . . 79 ( ( 3 ): ): 497 - - 516 . . DOI: 10.2307/2372560 http://doi.org/10.2307/2372560 . .

H Ergezer , , , K Leblebicioğlu . . 3D path planning for multiple UAVs for maximum information collection . . J Intell Robot Syst , , 2014 . . 73 ( ( 1-4 ): ): 737 - - 762 . . DOI: 10.1007/s10846-013-9895-6 http://doi.org/10.1007/s10846-013-9895-6 . .

E Falomir , , , S Chaumette , , , G Guerrini . . A mobility model based on improved artificial potential fields for swarms of UAVs . . IEEE/RSJ Int Conf on Intelligent Robots and Systems , , 2018 . . p.8499 - - 8504 . . DOI: 10.1109/IROS.2018.8593738 http://doi.org/10.1109/IROS.2018.8593738 . .

KA Ghamry , , , MA Kamel , , , YM Zhang . . Multiple UAVs in forest fire fighting mission using particle swarm optimization . . Int Conf on Unmanned Aircraft Systems , , 2017 . . p.1404 - - 1409 . . DOI: 10.1109/ICUAS.2017.7991527 http://doi.org/10.1109/ICUAS.2017.7991527 . .

AR Girard , , , AS Howell , , , JK Hedrick . . Border patrol and surveillance missions using multiple unmanned air vehicles . . Proc 43 rd IEEE Conf on Decision and Control , , 2004 . . p.620 - - 625 . . DOI: 10.1109/CDC.2004.1428713 http://doi.org/10.1109/CDC.2004.1428713 . .

V Govindaraju , , , G Leng , , , Z Qian . . Multi-UAV surveillance over forested regions . . Photogr Eng Remote Sens , , 2014 . . 80 ( ( 12 ): ): 1129 - - 1137 . . DOI: 10.14358/PERS.80.12.1129 http://doi.org/10.14358/PERS.80.12.1129 . .

M Guo , , , B Xin , , , J Chen , , , 等 . . Multi-agent coalition formation by an efficient genetic algorithm with heuristic initialization and repair strategy . . Swarm Evol Comput , , 2020 . . 55 100686 DOI: 10.1016/j.swevo.2020.100686 http://doi.org/10.1016/j.swevo.2020.100686 . .

SK Gupta , , , P Dutta , , , N Rastogi , , , 等 . . A control algorithm for co-operatively aerial survey by using multiple UAVs . . Int Conf on Recent Developments in Control, Automation & Power Engineering , , 2017 . . p.280 - - 285 . . DOI: 10.1109/RDCAPE.2017.8358282 http://doi.org/10.1109/RDCAPE.2017.8358282 . .

M Harounabadi , , , M Bocksberger , , , A Mitschele-Thiel . . Evolutionary path planning for multiple UAVs in message ferry networks applying genetic algorithm . . IEEE 29 th Annual Int Symp on Personal, Indoor and Mobile Radio Communications , , 2018 . . p.1 - - 7 . . DOI: 10.1109/PIMRC.2018.8580936 http://doi.org/10.1109/PIMRC.2018.8580936 . .

VT Hoang , , , MD Phung , , , TH Dinh , , , 等 . . Angle-encoded swarm optimization for UAV formation path planning . . IEEE/RSJ Int Conf on Intelligent Robots and Systems , , 2018 . . p.5239 - - 5244 . . DOI: 10.1109/IROS.2018.8593930 http://doi.org/10.1109/IROS.2018.8593930 . .

XX Hu , , , YH Liu , , , GQ Wang . . Optimal search for moving targets with sensing capabilities using multiple UAVs . . J Syst Eng Electron , , 2017 . . 28 ( ( 3 ): ): 526 - - 535 . . DOI: 10.21629/JSEE.2017.03.12 http://doi.org/10.21629/JSEE.2017.03.12 . .

LW Huang , , , H Qu , , , P Ji , , , 等 . . A novel coordinated path planning method using $k$-degree smoothing for multi-UAVs . . Appl Soft Comput , , 2016 . . 48 182 - - 192 . . DOI: 10.1016/j.asoc.2016.06.046 http://doi.org/10.1016/j.asoc.2016.06.046 . .

I Jang , , , HS Shin , , , A Tsourdos , , , 等 . . An integrated decision-making framework of a heterogeneous aerial robotic swarm for cooperative tasks with minimum requirements . . Proc Inst Mech Eng Part G , , 2019 . . 233 ( ( 6 ): ): 2101 - - 2118 . . DOI: 10.1177/0954410018772622 http://doi.org/10.1177/0954410018772622 . .

XT Ji , , , XK Wang , , , YF Niu , , , 等 . . Cooperative search by multiple unmanned aerial vehicles in a nonconvex environment . . Math Probl Eng , , 2015 . . 2015 196730 DOI: 10.1155/2015/196730 http://doi.org/10.1155/2015/196730 . .

NP Jia , , , ZW Yang , , , KW Yang . . Operational effectiveness evaluation of the swarming UAVs combat system based on a system dynamics model . . IEEE Access , , 2019 . . 7 25209 - - 25224 . . DOI: 10.1109/ACCESS.2019.2898728 http://doi.org/10.1109/ACCESS.2019.2898728 . .

F Khoshnoud , , , II Esat , , , CW de Silva , , , 等 . . Self-powered solar aerial vehicles: towards infinite endurance UAVs . . Unmann Syst , , 2020 . . 8 ( ( 2 ): ): 95 - - 117 . . DOI: 10.1142/S2301385020500077 http://doi.org/10.1142/S2301385020500077 . .

M Kothari , , , I Postlethwaite , , , DW Gu . . Multi-UAV path planning in obstacle rich environments using rapidly-exploring random trees . . Proc 48 th IEEE Conf on Decision and Control held jointly with 28 th Chinese Control Conf , , 2009 . . p.3069 - - 3074 . . DOI: 10.1109/CDC.2009.5400108 http://doi.org/10.1109/CDC.2009.5400108 . .

SB Lazarus , , , A Tsourdos , , , BA White , , , 等 . . Co-operative unmanned aerial vehicle searching and mapping of complex obstacles using two-dimensional splinegon . . Proc Inst Mech Eng Part G , , 2010 . . 224 ( ( 2 ): ): 149 - - 170 . . DOI: 10.1243/09544100JAERO585 http://doi.org/10.1243/09544100JAERO585 . .

CH Li , , , C Fang , , , FY Wang , , , 等 . . Complete coverage path planning for an Arnold system based mobile robot to perform specific types of missions . . Front Inform Technol Electron Eng , , 2019 . . 20 ( ( 11 ): ): 1530 - - 1542 . . DOI: 10.1631/FITEE.1800616 http://doi.org/10.1631/FITEE.1800616 . .

JD Li , , , XQ Li , , , LJ Yu . . Multi-UAV cooperative coverage path planning in plateau and mountain environment . . Proc 33 rd Youth Academic Annual Conf of Chinese Association of Automation , , 2018 . . p.820 - - 824 . . DOI: 10.1109/YAC.2018.8406484 http://doi.org/10.1109/YAC.2018.8406484 . .

T Li , , , J Jiang , , , ZY Zhen , , , 等 . . Mission planning for multiple UAVs based on ant colony optimization and improved Dubins path . . IEEE Chinese Guidance, Navigation and Control Conf , , 2016 . . p.954 - - 959 . . DOI: 10.1109/CGNCC.2016.7828914 http://doi.org/10.1109/CGNCC.2016.7828914 . .

XH Li , , , Y Zhao , , , J Zhang , , , 等 . . A hybrid PSO algorithm based flight path optimization for multiple agricultural UAVs . . Proc IEEE 28 th Int Conf on Tools with Artificial Intelligence , , 2016 . . p.691 - - 697 . . DOI: 10.1109/ICTAI.2016.0110 http://doi.org/10.1109/ICTAI.2016.0110 . .

XY Li , , , LL Ci , , , MH Yang , , , 等 . . Multi-decision making based PSO optimization in airborne mobile sensor network deployment . . Proc IEEE 6 th Int Symp on Embedded Multicore SoCs , , 2012 . . p.128 - - 134 . . DOI: 10.1109/MCSoC.2012.16 http://doi.org/10.1109/MCSoC.2012.16 . .

W Lin , , , Y Zhu , , , WC Zeng , , , 等 . . Track planning model for multi-UAV based on new multiple ant colony algorithm . . Proc Chinese Automation Congress , , 2018 . . p.3862 - - 3867 . . DOI: 10.1109/CAC.2018.8623555 http://doi.org/10.1109/CAC.2018.8623555 . .

W Liu , , , Z Zheng , , , KY Cai . . Distributed on-line path planner for multi-UAV coordination using bi-level programming . . Proc 25 th Chinese Control and Decision Conf , , 2013 . . p.5128 - - 5133 . . DOI: 10.1109/CCDC.2013.6561866 http://doi.org/10.1109/CCDC.2013.6561866 . .

Y Liu , , , XJ Zhang , , , Y Zhang , , , 等 . . Collision free 4D path planning for multiple UAVs based on spatial refined voting mechanism and PSO approach . . Chin J Aeron , , 2019 . . 32 ( ( 6 ): ): 1504 - - 1519 . . DOI: 10.1016/j.cja.2019.03.026 http://doi.org/10.1016/j.cja.2019.03.026 . .

Z Liu , , , XG Gao , , , XW Fu . . A cooperative search and coverage algorithm with controllable revisit and connectivity maintenance for multiple unmanned aerial vehicles . . Sensors , , 2018 . . 18 ( ( 5 ): ): 1472 DOI: 10.3390/s18051472 http://doi.org/10.3390/s18051472 . .

GQ Long , , , XP Zhu . . Cooperative area coverage reconnaissance method for multi-UAV system . . Adv Mater Res , , 2011 . . 383-390 4141 - - 4146 . . DOI: 10.4028/www.scientific.net/AMR.383-390.4141 http://doi.org/10.4028/www.scientific.net/AMR.383-390.4141 . .

DL Luo , , , J Shao , , , Y Xu , , , 等 . . Coevolution pigeon-inspired optimization with cooperation-competition mechanism for multi-UAV cooperative region search . . Appl Sci , , 2019 . . 9 ( ( 5 ): ): 827 DOI: 10.3390/app9050827 http://doi.org/10.3390/app9050827 . .

PB Ma , , , ZE Fan , , , J Ji . . Cooperative control of multi-UAV with time constraint in the threat environment . . Proc IEEE Chinese Guidance, Navigation and Control Conf , , 2014 . . p.2424 - - 2428 . . DOI: 10.1109/CGNCC.2014.7007549 http://doi.org/10.1109/CGNCC.2014.7007549 . .

XB Ma , , , ZY Jiao , , , ZK Wang , , , 等 . . Decentralized prioritized motion planning for multiple autonomous UAVs in 3D polygonal obstacle environments . . Int Conf on Unmanned Aircraft Systems , , 2016 . . p.292 - - 300 . . DOI: 10.1109/ICUAS.2016.7502596 http://doi.org/10.1109/ICUAS.2016.7502596 . .

XB Ma , , , ZY Jiao , , , ZK Wang , , , 等 . . 3-D decentralized prioritized motion planning and coordination for high-density operations of micro aerial vehicles . . IEEE Trans Contr Syst Technol , , 2018 . . 26 ( ( 3 ): ): 939 - - 953 . . DOI: 10.1109/TCST.2017.2699165 http://doi.org/10.1109/TCST.2017.2699165 . .

SS Mansouri , , , C Kanellakis , , , E Fresk , , , 等 . . Cooperative coverage path planning for visual inspection . . Contr Eng Pract , , 2018 . . 74 118 - - 131 . . DOI: 10.1016/j.conengprac.2018.03.002 http://doi.org/10.1016/j.conengprac.2018.03.002 . .

SG Manyam , , , S Rasmussen , , , DW Casbeer , , , 等 . . Multi-UAV routing for persistent intelligence surveillance & reconnaissance missions . . Int Conf on Unmanned Aircraft Systems , , 2017 . . p.573 - - 580 . . DOI: 10.1109/ICUAS.2017.7991314 http://doi.org/10.1109/ICUAS.2017.7991314 . .

I Maza , , , A Ollero . . Multiple UAV cooperative searching operation using polygon area decomposition and efficient coverage algorithms . . Int Symp on Distributed Autonomous Robotic Systems , , 2007 . . p.221 - - 230 . . DOI: 10.1007/978-4-431-35873-2\_22 http://doi.org/10.1007/978-4-431-35873-2\_22 . .

L Merino , , , F Caballero , , , JRMD Dios , , , 等 . . Cooperative fire detection using unmanned aerial vehicles . . Proc IEEE Int Conf on Robotics and Automation , , 2005 . . p.1884 - - 1889 . . DOI: 10.1109/ROBOT.2005.1570388 http://doi.org/10.1109/ROBOT.2005.1570388 . .

A Mohiuddin , , , T Tarek , , , Y Zweiri , , , 等 . . A survey of single and multi-UAV aerial manipulation . . Unmann Syst , , 2020 . . 8 ( ( 2 ): ): 119 - - 147 . . DOI: 10.1142/S2301385020500089 http://doi.org/10.1142/S2301385020500089 . .

S Moon , , , E Oh , , , DH Shim . . An integral framework of task assignment and path planning for multiple unmanned aerial vehicles in dynamic environments . . J Intell Robot Syst , , 2013 . . 70 ( ( 1-4 ): ): 303 - - 313 . . DOI: 10.1007/s10846-012-9740-3 http://doi.org/10.1007/s10846-012-9740-3 . .

Q Ning , , , GP Tao , , , BC Chen , , , 等 . . Multi-UAVs trajectory and mission cooperative planning based on the Markov model . . Phys Commun , , 2019 . . 35 100717 DOI: 10.1016/j.phycom.2019.100717 http://doi.org/10.1016/j.phycom.2019.100717 . .

SY Park , , , CS Shin , , , D Jeong , , , 等 . . DroneNetX: network reconstruction through connectivity probing and relay deployment by multiple UAVs in ad hoc networks . . IEEE Trans Veh Technol , , 2018 . . 67 ( ( 11 ): ): 11192 - - 11207 . . DOI: 10.1109/TVT.2018.2870397 http://doi.org/10.1109/TVT.2018.2870397 . .

Z Qin , , , AJ Li , , , C Dong , , , 等 . . Fair-energy trajectory plan for reconnaissance mission based on UAVs cooperation . . Proc 10 th Int Conf on Wireless Communications and Signal Processing , , 2018 . . p.1 - - 6 . . DOI: 10.1109/WCSP.2018.8555684 http://doi.org/10.1109/WCSP.2018.8555684 . .

F Quintin , , , S Iovino , , , A Savvaris , , , 等 . . Use of co-operative UAVs to support/augment UGV situational awareness and/or inter-vehicle communications . . IFAC , , 2017 . . 50 ( ( 1 ): ): 8037 - - 8044 . . DOI: 10.1016/j.ifacol.2017.08.1229 http://doi.org/10.1016/j.ifacol.2017.08.1229 . .

M Radmanesh , , , M Kumar , , , M Sarim , , , 等 . . Grey wolf optimization based sense and avoid algorithm in a Bayesian framework for multiple UAV path planning in an uncertain environment . . Aerosp Sci Technol , , 2018a . . 77 168 - - 179 . . DOI: 10.1016/j.ast.2018.02.031 http://doi.org/10.1016/j.ast.2018.02.031 . .

M Radmanesh , , , M Kumar , , , PH Guentert , , , 等 . . Overview of path-planning and obstacle avoidance algorithms for UAVs: a comparative study . . Unmann Syst , , 2018b . . 6 ( ( 2 ): ): 95 - - 118 . . DOI: 10.1142/S2301385018400022 http://doi.org/10.1142/S2301385018400022 . .

OK Sahingoz . . Flyable path planning for a multi-UAV system with genetic algorithms and Bezier curves . . Int Conf on Unmanned Aircraft Systems , , 2013 . . p.41 - - 48 . . DOI: 10.1109/ICUAS.2013.6564672 http://doi.org/10.1109/ICUAS.2013.6564672 . .

OK Sahingoz . . Generation of Bezier curve-based flyable trajectories for multi-UAV systems with parallel genetic algorithm . . J Intell Robot Syst , , 2014 . . 74 ( ( 1-2 ): ): 499 - - 511 . . DOI: 10.1007/s10846-013-9968-6 http://doi.org/10.1007/s10846-013-9968-6 . .

Z Shao , , , F Yan , , , Z Zhou , , , 等 . . Path planning for multi-UAV formation rendezvous based on distributed cooperative particle swarm optimization . . Appl Sci , , 2019 . . 9 ( ( 13 ): ): 2621 DOI: 10.3390/app9132621 http://doi.org/10.3390/app9132621 . .

J Shi , , , YK Wang , , , JF Tian . . Research on cooperative task assignment of UAV formation . . Proc 4 th Int Conf on Modelling, Simulation and Applied Mathematics , , 2017 . . p.489 - - 496 . . DOI: 10.12783/dtcse/cii2017/17293 http://doi.org/10.12783/dtcse/cii2017/17293 . .

G Skorobogatov , , , C Barrado , , , E Salam . . Multiple UAV systems: a survey . . Unmann Syst , , 2020 . . 8 ( ( 2 ): ): 149 - - 169 . . DOI: 10.1142/S2301385020500090 http://doi.org/10.1142/S2301385020500090 . .

JV Srli , , , OH Graven , , , JD Bjerknes . . Multi-UAV cooperative path planning for sensor placement using cooperative coevolving genetic strategy . . Proc 8 th Int Conf on Advances in Swarm Intelligence , , 2017 . . p.433 - - 444 . . DOI: 10.1007/978-3-319-61833-3_46 http://doi.org/10.1007/978-3-319-61833-3_46 . .

O Souissi , , , R Benatitallah , , , D Duvivier , , , 等 . . Path planning: a 2013 survey . . Proc Int Conf on Industrial Engineering and Systems Management , , 2013 . . p.849 - - 856 . . . .

XH Su , , , M Zhao , , , LL Zhao , , , 等 . . A novel multi stage cooperative path re-planning method for multi UAV . . Proc 14 th Pacific Rim Int Conf on Artificial Intelligence , , 2016 . . p.482 - - 495 . . DOI: 10.1007/978-3-319-42911-3\_40 http://doi.org/10.1007/978-3-319-42911-3\_40 . .

PB Sujit , , , J Sousa , , , FL Pereira . . UAV and AUVs coordination for ocean exploration . . OCEANS Conf , , 2009 . . p.1 - - 7 . . DOI: 10.1109/OCEANSE.2009.5278262 http://doi.org/10.1109/OCEANSE.2009.5278262 . .

JY Sun , , , J Tang , , , SY Lao . . Collision avoidance for cooperative UAVs with optimized artificial potential field algorithm . . IEEE Access , , 2017 . . 5 18382 - - 18390 . . DOI: 10.1109/ACCESS.2017.2746752 http://doi.org/10.1109/ACCESS.2017.2746752 . .

XL Sun , , , YF Liu , , , WR Yao , , , 等 . . Triple-stage path prediction algorithm for real-time mission planning of multi-UAV . . Electron Lett , , 2015 . . 51 ( ( 19 ): ): 1490 - - 1492 . . DOI: 10.1049/el.2015.1244 http://doi.org/10.1049/el.2015.1244 . .

Z Wang , , , L Liu , , , T Long . . Minimum-time trajectory planning for multi-unmanned-aerial-vehicle cooperation using sequential convex programming . . J Guid Contr Dynam , , 2017 . . 40 ( ( 11 ): ): 2972 - - 2978 . . DOI: 10.2514/1.G002349 http://doi.org/10.2514/1.G002349 . .

Z Wang , , , L Liu , , , T Long , , , 等 . . Efficient unmanned aerial vehicle formation rendezvous trajectory planning using Dubins path and sequential convex programming . . Eng Optim , , 2019 . . 51 ( ( 8 ): ): 1412 - - 1429 . . DOI: 10.1080/0305215X.2018.1524461 http://doi.org/10.1080/0305215X.2018.1524461 . .

JY Wu , , , J Yi , , , L Gao , , , 等 . . Cooperative path planning of multiple UAVs based on PH curves and harmony search algorithm . . Proc IEEE 21 st Int Conf on Computer Supported Cooperative Work in Design , , 2017 . . p.540 - - 544 . . DOI: 10.1109/CSCWD.2017.8066751 http://doi.org/10.1109/CSCWD.2017.8066751 . .

QP Wu , , , SL Zhou , , , S Yan , , , 等 . . A cooperative region surveillance strategy for multiple UAVs . . Proc IEEE Chinese Guidance, Navigation and Control Conf , , 2014 . . p.1744 - - 1748 . . DOI: 10.1109/CGNCC.2014.7007446 http://doi.org/10.1109/CGNCC.2014.7007446 . .

ZY Wu , , , JH Li , , , JM Zuo , , , 等 . . Path planning of UAVs based on collision probability and Kalman filter . . IEEE Access , , 2018 . . 6 34237 - - 34245 . . DOI: 10.1109/ACCESS.2018.2817648 http://doi.org/10.1109/ACCESS.2018.2817648 . .

DJ Xing , , , ZY Zhen , , , HJ Gong . . Offense-defense confrontation decision making for dynamic UAV swarm versus UAV swarm . . Proc Inst Mech Eng Part G , , 2019 . . 233 ( ( 15 ): ): 5689 - - 5702 . . . .

F Yan , , , XP Zhu , , , Z Zhou , , , 等 . . Heterogeneous multi-unmanned aerial vehicle task planning: simultaneous attacks on targets using the Pythagorean hodograph curve . . Proc Inst Mech Eng Part G , , 2019a . . 233 ( ( 13 ): ): 4735 - - 4749 . . DOI: 10.1177/0954410019829368 http://doi.org/10.1177/0954410019829368 . .

F Yan , , , XP Zhu , , , Z Zhou , , , 等 . . A hierarchical mission planning method for simultaneous arrival of multi-UAV coalition . . Appl Sci , , 2019b . . 9 ( ( 10 ): ): 1986 DOI: 10.3390/app9101986 http://doi.org/10.3390/app9101986 . .

F Yang , , , XL Ji , , , CW Yang , , , 等 . . Cooperative search of UAV swarm based on improved ant colony algorithm in uncertain environment . . Proc IEEE Int Conf on Unmanned Systems , , 2017 . . p.231 - - 236 . . DOI: 10.1109/ICUS.2017.8278346 http://doi.org/10.1109/ICUS.2017.8278346 . .

J Yang , , , JX Xi , , , C Wang , , , 等 . . Multi-base multi-UAV cooperative patrol route planning novel method . . Proc 33 rd Youth Academic Annual Conf of Chinese Association of Automation , , 2018 . . p.688 - - 693 . . DOI: 10.1109/YAC.2018.8406460 http://doi.org/10.1109/YAC.2018.8406460 . .

XX Yang , , , WW Zhou , , , Y Zhang . . On collaborative path planning for multiple UAVs based on Pythagorean hodograph curve . . IEEE Chinese Guidance, Navigation and Control Conf , , 2016 . . p.971 - - 975 . . DOI: 10.1109/CGNCC.2016.7828917 http://doi.org/10.1109/CGNCC.2016.7828917 . .

YL Yang , , , MM Polycarpou , , , AA Minai . . Multi-UAV cooperative search using an opportunistic learning method . . J Dynam Syst Meas Contr , , 2007 . . 129 ( ( 5 ): ): 716 - - 728 . . DOI: 10.1115/1.2764515 http://doi.org/10.1115/1.2764515 . .

P Yao , , , HL Wang , , , HX Ji . . Gaussian mixture model and receding horizon control for multiple UAV search in complex environment . . Nonl Dynam , , 2017 . . 88 ( ( 2 ): ): 903 - - 919 . . DOI: 10.1007/s11071-016-3284-1 http://doi.org/10.1007/s11071-016-3284-1 . .

P Yao , , , XD Wang , , , K Yi . . Optimal search for marine target using multiple unmanned aerial vehicles . . Proc 37 th Chinese Control Conf , , 2018 . . p.4552 - - 4556 . . DOI: 10.23919/ChiCC.2018.8484250 http://doi.org/10.23919/ChiCC.2018.8484250 . .

WR Yao , , , N Wan , , , NM Qi . . Hierarchical path generation for distributed mission planning of UAVs . . IEEE 55 th Conf on Decision and Control , , 2016 . . p.1681 - - 1686 . . DOI: 10.1109/CDC.2016.7798507 http://doi.org/10.1109/CDC.2016.7798507 . .

WR Yao , , , NM Qi , , , N Wan , , , 等 . . An iterative strategy for task assignment and path planning of distributed multiple unmanned aerial vehicles . . Aerosp Sci Technol , , 2019 . . 86 455 - - 464 . . DOI: 10.1016/j.ast.2019.01.061 http://doi.org/10.1016/j.ast.2019.01.061 . .

J Yoon , , , Y Jin , , , N Batsoyol , , , 等 . . Adaptive path planning of UAVs for delivering delay-sensitive information to ad-hoc nodes . . IEEE Wireless Communications and Networking Conf , , 2017 . . p.1 - - 6 . . DOI: 10.1109/WCNC.2017.7925624 http://doi.org/10.1109/WCNC.2017.7925624 . .

J Zeng , , , LH Dou , , , B Xin , , , 等 . . A joint mid-course and terminal course cooperative guidance law for multi-missile salvo attack . . Chin J Aeron , , 2018a . . 31 ( ( 6 ): ): 1311 - - 1326 . . DOI: 10.1016/j.cja.2018.03.016 http://doi.org/10.1016/j.cja.2018.03.016 . .

J Zeng , , , LH Dou , , , B Xin , , , 等 . . Multi-objective cooperative salvo attack against group target . . J Syst Sci Compl , , 2018b . . 31 ( ( 1 ): ): 244 - - 261 . . DOI: 10.1007/s11424-018-7437-9 http://doi.org/10.1007/s11424-018-7437-9 . .

U Zengin , , , A Dogan . . Real-time target tracking for autonomous UAVs in adversarial environments: a gradient search algorithm . . IEEE Trans Robot , , 2007 . . 23 ( ( 2 ): ): 294 - - 307 . . DOI: 10.1109/TRO.2006.889490 http://doi.org/10.1109/TRO.2006.889490 . .

DF Zhang , , , HB Duan . . Social-class pigeon-inspired optimization and time stamp segmentation for multi-UAV cooperative path planning . . Neurocomputing , , 2018 . . 313 229 - - 246 . . DOI: 10.1016/j.neucom.2018.06.032 http://doi.org/10.1016/j.neucom.2018.06.032 . .

QJ Zhang , , , JW Tao , , , F Yu , , , 等 . . Cooperative solution of multi-UAV rendezvous problem with network restrictions . . Math Probl Eng , , 2015 . . 2015 878536 DOI: 10.1155/2015/878536 http://doi.org/10.1155/2015/878536 . .

X Zhang , , , J Chen , , , B Xin , , , 等 . . A memetic algorithm for path planning of curvature-constrained UAVs performing surveillance of multiple ground targets . . Chin J Aeron , , 2014 . . 27 ( ( 3 ): ): 622 - - 633 . . DOI: 10.1016/j.cja.2014.04.024 http://doi.org/10.1016/j.cja.2014.04.024 . .

M Zhao , , , LL Zhao , , , XH Su , , , 等 . . Improved discrete mapping differential evolution for multi-unmanned aerial vehicles cooperative multi-targets assignment under unified model . . Int J Mach Learn Cybern , , 2017 . . 8 ( ( 3 ): ): 765 - - 780 . . DOI: 10.1007/s13042-015-0364-3 http://doi.org/10.1007/s13042-015-0364-3 . .

YJ Zhao , , , Z Zheng , , , Y Liu . . Survey on computational-intelligence-based UAV path planning . . Knowl Based Syst , , 2018 . . 158 54 - - 64 . . DOI: 10.1016/j.knosys.2018.05.033 http://doi.org/10.1016/j.knosys.2018.05.033 . .

Z Zhao , , , J Yang , , , YF Niu , , , 等 . . A hierarchical cooperative mission planning mechanism for multiple unmanned aerial vehicles . . Electronics , , 2019 . . 8 ( ( 4 ): ): 443 DOI: 10.3390/electronics8040443 http://doi.org/10.3390/electronics8040443 . .

ZY Zhen , , , DJ Xing , , , C Gao . . Cooperative search-attack mission planning for multi-UAV based on intelligent self-organized algorithm . . Aerosp Sci Technol , , 2018 . . 76 402 - - 411 . . DOI: 10.1016/j.ast.2018.01.035 http://doi.org/10.1016/j.ast.2018.01.035 . .

XC Zheng , , , F Wang , , , ZH Li . . A multi-UAV cooperative route planning methodology for 3D fine-resolution building model reconstruction . . ISPRS J Photogr Remote Sens , , 2018 . . 146 483 - - 494 . . DOI: 10.1016/j.isprsjprs.2018.11.004 http://doi.org/10.1016/j.isprsjprs.2018.11.004 . .

YJ Zhong , , , ZX Liu , , , YM Zhang , , , 等 . . Active fault-tolerant tracking control of a quadrotor with model uncertainties and actuator faults . . Front Inform Technol Electron Eng , , 2019 . . 20 ( ( 1 ): ): 95 - - 106 . . DOI: 10.1631/FITEE.1800570 http://doi.org/10.1631/FITEE.1800570 . .

SQ Zhu , , , DW Wang . . Adversarial ground target tracking using UAVs with input constraints . . J Intell Robot Syst , , 2012 . . 65 ( ( 1-4 ): ): 521 - - 532 . . DOI: 10.1007/s10846-011-9574-4 http://doi.org/10.1007/s10846-011-9574-4 . .

浏览量

Downloads

CSCD

文章被引用时，请邮件提醒。

Submit

工具集

关联资源

An optimized formula for the two-point resistance of a cobweb resistance network and its potential application

A distributed variable density path search and simplification method for industrial manipulators with end-effector’s attitude constraints

Dynamic value iteration networks for the planning of rapidly changing UAV swarms