旋翼无人机环境覆盖与探索规划方法综述  

A survey on coverage and exploration path planning with multi-rotor micro aerial vehicles

作　　者：张世勇 张雪波[1,2] 苑晶 方勇纯[1,2] ZHANG Shi-yong;ZHANG Xue-bo;YUAN Jing;FANG Yong-chun(Institute of Robotics and Automatic Information Systems,Nankai University,Tianjin 300350,China;College of Artificial Intelligence,Nankai University,Tianjin 300350,China)

机构地区：[1]南开大学机器人与信息自动化研究所,天津300350 [2]南开大学人工智能学院,天津300350

出　　处：《控制与决策》2022年第3期513-529,共17页Control and Decision

基　　金：“智能机器人”国家重点研发计划项目(2018YFB1307503);天津市杰出青年科学基金项目(19JCJQJC62100);天津市自然科学基金面上项目(19JCYBJC18500);中央高校基本科研业务费专项资金项目。

摘　　要：随着微型空中机器人技术的迅速发展,利用小型旋翼无人机对目标环境进行自主覆盖与探索成为当前机器人领域的研究热点.鉴于此,首先对机器人环境覆盖规划与探索规划的研究内容进行简要介绍;然后按照覆盖规划、探索规划以及同时覆盖与探索规划3个方面展开综述,详细分析不同方法的基本工作原理、优势以及局限性;最后根据研究现状总结目前研究中存在的问题与挑战,并对未来研究与发展趋势进行分析.With the rapid development of micro aerial vehicle(MAV)technology,autonomous coverage and exploration of interest environments with multi-rotor MAVs have become a research hotspot.Firstly,this article briefly introduces the research contents of coverage and exploration planning of interest environments by using robotics.Then,three aspects are surveyed,i.e.coverage planning,exploration planning,as well as simultaneous coverage and exploration planning.In addition,the fundamental working principle,advantages and limitations of different methods are analyzed in detail.Finally,the problems and challenges are concluded according to the state of the art,and the future research trends and development directions are analyzed.

关 键 词：多旋翼无人机 覆盖规划 未知环境探索 视点生成 路径规划 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]