无人机航迹规划算法研究进展  

Research Progress on UAV Trajectory Planning Algorithm

作　　者：张琪 任宇辰 顾腾达 季津琪 张志学 ZHANG Qi;REN Yuchen;GU Tengda;JI Jinqi;ZHANG Zhixue(Graduate School,China People's Police University,Langfang 065000,China;School of Chemistry and Chemical Engineering,Tianjin University of Technology,Tianjin 300384,China;School of Policing Command,China People's Police University,Guangzhou 510663,China)

机构地区：[1]中国人民警察大学研究生院,河北廊坊065000 [2]天津理工大学化学化工学院,天津300384 [3]中国人民警察大学(广州)警务指挥学院,广东广州510663

出　　处：《现代信息科技》2024年第17期49-55,共7页Modern Information Technology

基　　金：公安部理论与软科学项目(2022LL56);河北省省级科技计划(20375601D);警察大学学生科技创新计划项目(yjskc22035)。

摘　　要：目前,无人机技术的发展已取得了明显的突破,无人机的应用领域从军事扩展到了商业、科研、娱乐等多个领域。文章以无人机航迹规划算法为研究对象,首先,根据航迹规划算法的原理与特点,将其分为全局规划算法和局部规划算法两大类,其中全局规划算法又可分为图搜索算法和智能仿生算法。其次,对算法的原理、工作流程、优缺点进行了深入分析,并介绍了相应的改进方法,结合算法自身特点阐述其在相应领域的应用;最后,探讨上述算法在实际应用中的限制与挑战,并对未来航迹规划技术的发展趋势进行了展望,为无人机航迹规划算法的研究指出了方向。At present,the development of UAV technology has made obvious breakthroughs,and the application fields of UAV have expanded from military to commerce,scientific research,entertainment and other fields.This paper takes the UAV trajectory planning algorithm as the research object.Firstly,according to the principle and characteristics of the trajectory planning algorithm,this paper divides it into two categories of global planning algorithm and local planning algorithm,among which the global planning algorithm can be divided into the graph search algorithm and intelligent bionic algorithm.Secondly,the principles,workflow,advantages and disadvantages of the algorithms are analyzed in depth,the corresponding improvement methods are introduced,and their applications in the corresponding fields are elaborated in combination with the characteristics of the algorithms.Finally,it discusses the limitations and challenges of the above algorithms in the practical application,looks forward to the development trend of the future trajectory planning technology,and points out the direction for the research of UAV trajectory planning algorithm.

关 键 词：无人机 航迹规划 全局规划算法 局部规划算法 图搜索算法 智能仿生算法 

分 类 号：TP301[自动化与计算机技术—计算机系统结构] V279[自动化与计算机技术—计算机科学与技术]