信息与控制2025，Vol.54Issue(3)：353-371,19.DOI:10.13976/j.cnki.xk.2024.4751
多旋翼无人机的环境感知与运动规划方法综述
Environment Perception and Motion Planning for Multi-rotors:A Review
摘要
Abstract
Recently,there has been growing interest among researchers in developing multi-rotors with advanced autonomous flight capabilities.Multi-rotors are capable of performing complex and haz-ardous tasks in place of humans,such as search and rescue,inspection,and exploration missions.However,they face numerous challenges when operating in the diverse and dynamic real-world en-vironments.To effectively accomplish these tasks,multi-rotors require a robust,safe,and efficient autonomous flight system.As we know,autonomous flight systems involve multiple complex tech-nical aspects,including mapping,state estimation,and motion planning.We offer an in-depth discussion,comparison,and comprehensive review of the strengths and limitations of these sub-modules.Furthermore,we highlight the current limitations and unresolved challenges of autono-mous flight in various scenarios,providing valuable insights for researchers seeking to bridge the gap between theory and practical applications.Finally,we summarize the future challenges and e-merging trends in the development of autonomous flight systems.关键词
自主飞行/状态估计/运动规划/轨迹优化Key words
autonomous flight/state estimation/motion planning/trajectory optimization分类
信息技术与安全科学引用本文复制引用
聂虹宇,张广玉,李德才,何玉庆..多旋翼无人机的环境感知与运动规划方法综述[J].信息与控制,2025,54(3):353-371,19.基金项目
国家重点研发计划(2023YFB4704402) （2023YFB4704402）
辽宁省自然科学基金项目(2022-ms-032) （2022-ms-032）
中国科学院青促会优秀会员项目(Y2022065) （Y2022065）
机器人学国家重点实验室项目(E21Z0117) （E21Z0117）
