基于城市环境下无人机集群航迹规划发展研究  

Research on the Development of UAV Swarm Trajectory Planning Based on Urban Environment

作　　者：赵亮 费陈 贺拥亮 ZHAO Liang;FEI Chen;HE Yongliang(Armed Police Officer School,Hangzhou 311400,Zhejiang,China)

机构地区：[1]武警士官学校,浙江杭州311400

出　　处：《火炮发射与控制学报》2024年第5期96-104,111,共10页Journal of Gun Launch & Control

摘　　要：随着无人机集群展现出巨大效能和应用潜力,无人机被广泛应用于各个领域,其中城市环境下无人机集群应用最具有前景。以复杂城市环境为研究背景,围绕无人机集群航迹规划进行深入研究,首先介绍目前国外关于城市环境下的无人机集群航迹规划研究现状,同时分析无人机集群技术,并着重剖析城市环境下航迹规划的密集城市建筑、无人机能耗等特点,然后重点研究基于城市环境下的无人机集群航迹规划关键技术,深度分析基于栅格法的三维城市环境、基于数学建模的威胁区域、基于强化学习的无人机集群航迹规划等关键技术,最后就城市环境下无人机集群航迹规划所面临的挑战进行探讨和展望,为未来城市环境下的无人机集群航迹规划发展指明研究方向。With the enormous efficiency and application potential of drone swarms,drones are widely used in various fields,among which the application of drone swarms in urban environments is the most promising.Taking complex urban environments as the research background,in-depth research on drone swarm trajectory planning is conducted.First of all,it introduces the current research status of drone swarm trajectory planning in urban environments abroad,analyzes drone swarm technology,and focuses on analyzing the characteristics of dense urban buildings,and drone energy consumption in urban environment trajectory planning.It focuses on the key technologies of drone swarm trajectory planning in urban environments,analyzes thoroughly key technologies such as three-dimensional urban environments based on the grid method,threat areas based on mathematical modeling,and drone swarm trajectory planning based on reinforcement learning.In the end,it discusses and examines the challenges faced by drone swarm trajectory planning in urban environments,and provides reference for develo-pment direction of drone swarm trajectory planning in future urban environments.

关 键 词：城市环境 无人机集群 航迹规划 强化学习 栅格法 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]