数字海洋与水下攻防2025，Vol.8Issue(2)：175-185,11.DOI:10.19838/j.issn.2096-5753.2025.02.009
狭窄空间约束下的多无人机协同规划研究
Cooperative Path Planning for Multiple UAVs in Constrained Narrow Spaces
曾林之 1冯思源 2宋俊才 1廖贵超 1陈运剑1
作者信息
- 1. 宜昌测试技术研究所,湖北 宜昌 443003||清江创新中心,湖北 武汉 430076
- 2. 南京电子技术研究所 雷达探测感知全国重点实验室 江苏 南京 210039
- 折叠
摘要
Abstract
Due to the high flexibility and complementary,Multi-UAV systems are suitable for complex and constrained operational environments,demonstrating significant application potential in military,rescue,monitoring,and logistics fields.However,there are still challenges to achieving safe and efficient path planning for multiple UAVs in constrained spaces.On the one hand,the reduction of the safe search space restricts the generation of flight paths conforming to UAV motion constraints.On the other hand,the constrained space increases the risk of collision between UAVs.Thus,in this paper,a cooperative path generation method based on a body constraint tree is proposed.It adopts a hierarchical collaboration planning framework that includes a high-level conflict avoidance module and a low-level path generation module.In the framework,the Enhanced Conflict-Based Search(ECBS)algorithm is improved to address conflict in global path planning and to avoid the occurrence of local deadlocks.By optimizing the conflict resolution strategy during the global planning phase,a stable and efficient collaboration of multi-UAV systems in complex environments is achieved.In addition,experiments are conducted in the Rviz simulation environment with random,adversarial,and interleaved multi-flight missions.The experimental results demonstrate that the proposed method can generate smooth cooperative paths for at least 60 UAVs within a few minutes.关键词
多无人机系统/狭窄空间约束场景/协同规划/碰撞避免Key words
multi-UAV system/constrained narrow space/cooperative path planning/collision avoidance分类
计算机与自动化引用本文复制引用
曾林之,冯思源,宋俊才,廖贵超,陈运剑..狭窄空间约束下的多无人机协同规划研究[J].数字海洋与水下攻防,2025,8(2):175-185,11.
