重庆邮电大学学报（自然科学版）2024，Vol.36Issue(4)：647-660,14.DOI:10.3979/j.issn.1673-825X.202308130273
多机协同自主任务规划系统研究综述
Review of multi-UAV collaborative autonomous task planning systems
摘要
Abstract
Collaborative autonomous task planning of multiple unmanned aerial vehicles(UAVs)is expected to significant-ly enhance task perception efficiency and execution performance.In this paper,an overview of the key technologies in col-laborative autonomous task planning systems of multiple UAVs is presented,including knowledge representation methods,the integrated sensing and communication technology,and the task scheduling and trajectory planning technology of the UA-Vs.Regarding knowledge representation methods,a context-aware knowledge base construction method is proposed,and a multi-domain fusion knowledge graph and dynamic knowledge graph updating and sharing methods are summarized.For the integrated sensing and communication technology in multi-UAV collaborative task execution scenarios,an environment-a-daptive and flexible scalable multi-UAV collaborative sensing and communication integration framework is proposed,the theoretical performance limitations of collaborative sensing and communication integration are analyzed,and resource sha-ring methods tailored to varying task demands are presented.Regarding the task scheduling and trajectory planning problem in multi-UAV collaborative task execution scenarios,a resource-adaptive multi-UAV collaborative autonomous task schedu-ling scheme is presented,then a dynamic model-based multi-UAV collaborative autonomous trajectory control strategy is discussed.Finally,a robust control mechanism in imperfect multi-UAV collaborative environment is proposed.关键词
无人机/知识表示/协同任务感知/通感一体化/任务规划Key words
unmanned aerial vehicles/knowledge representation/collaborative task perception/integrated sensing and com-munication/task planning分类
信息技术与安全科学引用本文复制引用
柴蓉,杨泞渝,段晓芳,艾新雨,陈前斌..多机协同自主任务规划系统研究综述[J].重庆邮电大学学报（自然科学版）,2024,36(4):647-660,14.基金项目
国家自然科学基金项目(62271097)The National Natural Science Foundation of China(62271097) （62271097）
