哈尔滨工程大学学报2026，Vol.47Issue(3)：708-719,12.DOI:10.11990/jheu.202409039
无人机航迹规划算法综述
A review of unmanned aerial vehicle trajectory planning algorithms
摘要
Abstract
To systematically review the progress in the field of unmanned aerial vehicle traiectory,this paper first analyzes the problem of UAV path planning and categorizes existing algorithms based on their algorithmic prin-ciples,highlighting the characteristics and applications of commonly used algorithms.Then,according to the im-provement ideas,the research of path planning algorithms in recent years is classified into the improvement based on the algorithm's own defects,the improvement based on environmental representation and the improvement based on multi-algorithm fusion.Finally,this paper points out the difficulties and challenges of path planning algo-rithm research and the shortcomings of existing research,and then looks forward to the future development trend on this basis.The research findings indicate that improvements to traditional algorithmsare relatively mature,while novel intelligent algorithms like grey wolf optimization and researches with reinforcement learning require further in-vestigation.What's more,current studies primarily focus on single-UAV scenarios,showing inadequacies in multi-UAV coordination and complex environment adaptability.Furthermore,it is essential to balance modeling accuracy with computational efficiency by developing more realistic modeling approaches to optimize trajectory planning algorithms.关键词
无人机/航迹规划/算法改进/强化学习/深度强化学习/群体智能/遗传算法/算法融合Key words
unmanned aerial vehicle/trajectory planning/algorithm improvement/reinforcement learning/deep reinforcement learning/swarm intelligence/genetic algorithm/algorithm fusion分类
信息技术与安全科学引用本文复制引用
王硕,李洋,赵蕴龙,刘春颜..无人机航迹规划算法综述[J].哈尔滨工程大学学报,2026,47(3):708-719,12.基金项目
国家重点研发计划(2022ZD0115403). （2022ZD0115403）
