摘要
近年来,研究人员对于开发具有先进自主飞行能力的多旋翼无人机表现出浓厚的兴趣。多旋翼无人机能够代替人类执行一些复杂且危险的任务,如搜救活动、监测和探索任务等。然而,无人机在多变和复杂的实际环境中面临诸多挑战。为了完成这些任务,无人机必须依赖一个安全且高效的自主飞行系统。众所周知,自主飞行系统涉及多个复杂的技术层面,包括地图构建、状态估计和运动规划。本文对这些子模块的优势和劣势进行了细致的讨论、对比和综合评述。此外,本文还给出了自主飞行在不同场景中的限制和未解决的问题,以便研究人员更好地认识到理论与实践应用之间的关键差距。最后,本文对自主飞行领域所面临的未来挑战进行了梳理,对其发展趋势进行了展望。
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 hazardous 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 environments.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 technical 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 autonomous 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 emerging trends in the development of autonomous flight systems.
作者
聂虹宇
张广玉
李德才
何玉庆
NIE Hongyu;ZHANG Guangyu;LI Decai;HE Yuqing(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;University of Chinese Academy of Sciences,Beijing 100049,China)
出处
《信息与控制》
北大核心
2025年第3期353-371,共19页
Information and Control
基金
国家重点研发计划(2023YFB4704402)
辽宁省自然科学基金项目(2022-ms-032)
中国科学院青促会优秀会员项目(Y2022065)
机器人学国家重点实验室项目(E21Z0117)。
关键词
自主飞行
状态估计
运动规划
轨迹优化
autonomous flight
state estimation
motion planning
trajectory optimization
