航空学报2026，Vol.47Issue(9)：1-32,32.DOI:10.7527/S1000-6893.2025.33388
低空无人机智能避障决策与安全控制技术综述
Overview of intelligent obstacle avoidance decision-making and safety control technologies for low-altitude UAV
摘要
Abstract
As one of the representative industries of new-quality productive forces,the low-altitude economy can not only foster new economic growth points,but also drive the development of multiple related industries such as low-altitude manufacturing,low-altitude flight,low-altitude support and integrated services.It is of great significance in boosting economic growth and promoting technological innovation.Intelligent obstacle avoidance decision-making and safety control of low-altitude Unmanned Aerial Vehicle(UAV)are prerequisites for ensuring the efficient and safe transportation of low-altitude UAV,and have thus become one of the research hotspots in the field of low-altitude economy in recent years.Based on existing research achievements at home and abroad,this paper reviews the re-search status of intelligent obstacle avoidance decision-making and safety control technologies for low-altitude UAV and prospects their future development directions.Specifically,it summarizes the key technologies that have been ad-dressed from the aspects of safety obstacle avoidance decision-making for low-altitude UAV,safe path planning,safety control of low-altitude UAV under satellite signal denial,safety control of low-altitude UAV under disturbances,and safety control of low-altitude UAV under multiple constraints.Finally,the future research directions of intelligent obstacle avoidance decision-making and safety control for low-altitude UAVs are prospected.关键词
低空经济/低空无人机/避障决策/航路规划/安全控制/抗干扰控制/多约束控制Key words
low-altitude economy/low-altitude UAV/obstacle avoidance decision-making/flight path planning/safety control/anti-disturbance control/multi-constraint control分类
航空航天引用本文复制引用
陈谋,甄子涵,姜斌..低空无人机智能避障决策与安全控制技术综述[J].航空学报,2026,47(9):1-32,32.基金项目
国家自然科学基金(62533012,U25A20453,U23B2036) （62533012,U25A20453,U23B2036）
江苏省基础研究重点项目(BK20253024) National Natural Science Foundation of China(62533012,U25A20453,U23B2036) （BK20253024）
Jiangsu Provincial Key Program of Basic Research(BK20253024) （BK20253024）
