搭载任务载荷军用地面无人系统发展综述  

A Review on the Development of Military Unmanned Ground System with Mission Payload

作　　者：关海杰 王博洋 王旭睿 刘海鸥[1] 陈慧岩[1] GUAN Haijie;WANG Boyang;WANG Xurui;LIU Hai ou;CHEN Huiyan(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081

出　　处：《兵工学报》2023年第11期3333-3344,共12页Acta Armamentarii

基　　金：国家自然科学基金项目(52172378)。

摘　　要：随着军用地面无人系统研究的深入,单一的地面无人机动平台或任务载荷很难满足现代战场的需求,只有任务载荷和机动平台协同发展,地面无人系统才能在战场中真正形成战斗力。为进一步推动任务载荷与机动底盘协同技术的发展,综述了搭载任务载荷军用地面无人系统的发展背景、研究现状及技术特点,分别从多层次多维度的环境建模、基于多模态数据的通行度估计、基于多智能体协同建模的协同规划控制优化方法三方面对其关键技术进行阐述,总结了相关的研究框架和重点,并对搭载任务载荷军用地面无人系统未来的发展方向进行了展望。With the in-depth research on military unmanned ground systems,it is difficult for a single unmanned ground vehicle(UGV)or mission payload to meet the needs of the modern battlefield.Only with the coordinated development of mission payload and UGVs,the ground unmanned system can truly form combat effectiveness in the battlefield.In order to further promote the development of collaborative technology for the mission payload and UGVs,the development background,research status and technical characteristics of military ground unmanned systems with mission payload are summarized,and then the key technologies of UGV system are elaborated from three aspects:multilevel and multi-dimensional environmental modeling,traversability assessment based on multimodal data,and collaborative planning and control optimization method based on multi-agent collaborative modeling.Relevant research framework and focus of each aspect are summarized,and the future development direction of military ground unmanned systems with mission payload is prospected.

关 键 词：军用地面无人系统 任务载荷 环境建模 通行度估计 协同规划控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]