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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics  2020, Vol. 2 Issue (1): 14-21    DOI: 10.1049/iet-csr.2020.0004
    
无人飞行器运动规划综述
Lun Quan1, Luxin Han2, Boyu Zhou2, Shaojie Shen2, Fei Gao1
1 College of Control Science and Engineering, Zhejiang University, Xihu District, Hangzhou, People's Republic of China  2 ECE Department, Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong
Survey of UAV motion planning
Lun Quan1, Luxin Han2, Boyu Zhou2, Shaojie Shen2, Fei Gao1
1 College of Control Science and Engineering, Zhejiang University, Xihu District, Hangzhou, People's Republic of China  2 ECE Department, Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong
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摘要： 运动规划是无人飞行器(UAVs)的一个重要模块，特别是在自主导航和操作场景中。本综述阐述了一些最近的无人飞行器运动规划算法和相关应用进展。本综述的逻辑流程分为路径查找和轨迹优化两部分，前者是大多数运动规划系统的前端，而后者通常是后端。本文详细介绍了各项研究的动机、方法、问题的提出和推导。最后一节阐述了相关算法的现实应用，介绍了最流行的运动规划方法的作用和有效性。
Abstract: Motion planning is a vital module for unmanned aerial vehicles (UAVs), especially in scenarios of autonomous navigation and operation. This survey delivers some recent state-of-the-art UAV motion planning algorithms and related applications. The logic flow of this survey is divided as the path finding, which is the front-end of most motion planning systems, and the trajectory optimisation, which usually serves as the back-end. Motivation, methodology, problem formulation and derivation are given in this survey, in detail. Finally, a section about real-world applications is given, where roles and effectiveness of most popular motion planning methods are revealed.
收稿日期: 2020-02-13 出版日期: 2020-04-03
通讯作者: Lun Quan     E-mail: lunquan@zju.edu.cn
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引用本文:

Lun Quan, Luxin Han, Boyu Zhou, Shaojie Shen, Fei Gao. Survey of UAV motion planning. IET Cyber-Systems and Robotics, 2020, 2(1): 14-21.

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http://www.zjujournals.com/iet-csr/CN/10.1049/iet-csr.2020.0004    或    http://www.zjujournals.com/iet-csr/CN/Y2020/V2/I1/14

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