华南理工大学学报（自然科学版）2026，Vol.54Issue(6)：12-28,17.DOI:10.12141/j.issn.1000-565X.250427
无人机巡检优化建模方法综述
Review on UAV Modeling Methods for Inspection Optimization
摘要
Abstract
Low-altitude inspection technology is evolving into a key component of modern inspection systems due to its significant advantages in cost reduction and efficiency improvement.The efficient operation of unmanned aerial vehicle(UAV)inspections relies on a well-structured top-level planning system,whose core challenges can be summarized into three closely related decision-making layers:site selection,task allocation,and path planning.This paper systematically reviews the current research status and modeling methodologies of this integrated plan-ning framework.Firstly,task characteristics are classified and analyzed from multiple dimensions,including inspec-tion targets,operational scenarios,and task combinations.Subsequently,the modeling approaches,optimization ob-jectives,and constraint systems of the three core layers—site selection,task allocation,and path planning—are elaborated in detail.By establishing a three-tier analytical framework,the review provides a more systematic and hi-erarchical analytical perspective for the field.Finally,addressing current research bottlenecks in system coordina-tion,real-time responsiveness,and environmental adaptability,future research directions are outlined.These in-clude three-level integrated optimization,cloud-edge-device collaborative computing,and robust planning through the integration of data-driven and physics-based models.The goal of this study is to offer a comprehensive refe-rence for both theoretical research and engineering practice in the advancement of intelligent planning systems for UAV inspection.关键词
无人机巡检/选址/任务分配/路径规划Key words
UAV inspection/site selection/task allocation/path planning分类
交通工程引用本文复制引用
沈伟,钟令枢..无人机巡检优化建模方法综述[J].华南理工大学学报（自然科学版）,2026,54(6):12-28,17.基金项目
国家自然科学基金项目(52502412) （52502412）
广东省基础与应用基础研究基金项目(2024A1515240072,2025A1515012958,2025A1515060010) （2024A1515240072,2025A1515012958,2025A1515060010）
广州市基础研究计划项目(2025A04J4677)Supported by the National Natural Science Foundation of China(52502412)and the Basic and Applied Basic Research Foundation of Guangdong Province(2024A1515240072,2025A1515012958,2025A1515060010) （2025A04J4677）
