华南理工大学学报（自然科学版）2025，Vol.53Issue(12)：17-33,17.DOI:10.12141/j.issn.1000-565X.250037
无人机应急救援路径规划建模方法综述与展望
Modeling Methodologies for Unmanned Aerial Vehicle Path Planning in Emergency Rescue:A Comprehensive Review and Prospect
摘要
Abstract
With the rise of the low-altitude economy,the application scenarios of unmanned aerial vehicle(UAV)continue to expand,particularly playing a significant role in emergency response.Leveraging advantages such as high mobility and remote control,UAV has proven to be powerful tools in disaster monitoring,communication resto-ration,personnel search and rescue,material delivery,and post-disaster assessment during emergencies such as natural and human-made disasters.This paper aims to provoide a comprehensive review of modeling methods and the latest research progress in UAV path planning for emergency rescue,offering thorough theoretical references and technical guidance for researchers in related fields.It begins by outlining typical emergency rescue scenarios such as earthquakes,fires,and floods,summarizing the application requirements of UAV in different contexts.Then it systematically reviews UAV path planning modeling methods,including dynamic models and task models,with task models further categorized into hierarchical,collaborative,fault-tolerant,real-time,and adaptative dimen-sions.Subsequently,it comprehensively analyzes path planning optimization algorithms based on three core ele-ments:constraints,optimization objectives,and solution algorithms.Finally,the paper discusses the challenges and opportunities of UAV path planning in emergency rescue,highlighting that technological development,multi-UAV col-laboration,and interdisciplinary integration represent future development opportunities.This study provides theoretical support and practical reference for the further development and application of UAV path planning modeling.关键词
无人机/应急救援/路径规划/优化模型Key words
unmanned aerial vehicle/emergency rescue/path planning/optimization model分类
交通工程引用本文复制引用
裴明阳,邵康顺,李林青,徐凤娟..无人机应急救援路径规划建模方法综述与展望[J].华南理工大学学报（自然科学版）,2025,53(12):17-33,17.基金项目
广东省基础与应用基础研究基金项目(2024A1515010617,2025A1515010544) （2024A1515010617,2025A1515010544）
华南理工大学中央高校基本科研业务费专项资金项目(2024ZYGXZR053) （2024ZYGXZR053）
广州市基础与应用基础研究专题(SL2023A04J00802) （SL2023A04J00802）
新疆煤炭资源绿色开采教育部重点实验室开放基金项目(KLXGY-KB2420)Supported by the Basic and Applied Basic Research Foundation of Guangdong Province(2024A1515010617,2025A1515010544) （KLXGY-KB2420）
