智能系统学报2025，Vol.20Issue(2)：445-456,12.DOI:10.11992/tis.202401035
未知混动态环境下多无人机轨迹规划
Trajectory planning for multi-drone in unknow mixed dynamic environments
摘要
Abstract
The realization of fast online replanning for multi-drone in an unknown mixed dynamic environment poses a significant challenge.This paper proposes a decentralized kinodynamic planning scheme to rapidly replan dynamically feasible trajectories for autonomous drones in mixed dynamic environments with static and dynamic obstacles.Firstly,we introduce an improved kinodynamic path search method that addresses the limitations of dealing with dynamic obstacles and low search efficiency.This is achieved by incorporating the optimal reciprocal collision avoidance al-gorithm,resulting in a safe reference path.Then,an initial trajectory is fitted according to the reference path and optim-ized using a gradient-based optimization method.To enhance optimization efficiency,a gradient construction method is proposed,adapting kinodynamic planning schemes.This method efficiently utilizes known information to rapidly con-struct obstacle avoidance gradients,enabling trajectory optimization to be completed within a few milliseconds.Finally,the feasibility and efficiency of the proposed approach were validated through comparison with other planning schemes.关键词
自主智能体/实时系统/运动规划/在线搜索/碰撞避免/优化/梯度方法/分布式控制Key words
autonomous agents/real-time systems/motion planning/online searching/collision avoidance/optimization/gradient methods/decentralized control分类
计算机与自动化引用本文复制引用
胡克,孙洪飞..未知混动态环境下多无人机轨迹规划[J].智能系统学报,2025,20(2):445-456,12.基金项目
航空科学基金项目(20220058068001). （20220058068001）
