多无人机协同航迹规划技术研究

摘要

Cooperative path planning is an important part of cooperative control for multiple unmanned aerial vehicles ( UAVs) .To get optimal flight path which can satisfy constraints such as security perform-ance ,cooperative performance and mission requests ,cooperative path planning is important for enhancing system efficiency of UAVs.Problem description and solution frameworks are introduced respectively ,and constraints and path coordination approaches are summarized .Several control methods commonly used in formation of multiple UAVs are explained particularly .Base on the analysis ,possible research directions in the future time are put forward .%多无人机协同航迹规划是多无人机协同控制的重要组成部分。多无人机协同航迹规划能得到满足安全性、协同性和任务要求的较优航迹，这对提高无人机系统性能有重要的意义。介绍了多无人机协同航迹规划的问题描述和求解结构，总结了在协同规划问题中的约束条件和航迹协调方法，着重阐述了几种在多无人机编队中常用的控制方法。在此基础上，对未来可能的研究方向进行了展望。