Review of multi-UAV collaborative autonomous task planning systems
Collaborative autonomous task planning of multiple unmanned aerial vehicles(UAVs)is expected to significant-ly enhance task perception efficiency and execution performance.In this paper,an overview of the key technologies in col-laborative autonomous task planning systems of multiple UAVs is presented,including knowledge representation methods,the integrated sensing and communication technology,and the task scheduling and trajectory planning technology of the UA-Vs.Regarding knowledge representation methods,a context-aware knowledge base construction method is proposed,and a multi-domain fusion knowledge graph and dynamic knowledge graph updating and sharing methods are summarized.For the integrated sensing and communication technology in multi-UAV collaborative task execution scenarios,an environment-a-daptive and flexible scalable multi-UAV collaborative sensing and communication integration framework is proposed,the theoretical performance limitations of collaborative sensing and communication integration are analyzed,and resource sha-ring methods tailored to varying task demands are presented.Regarding the task scheduling and trajectory planning problem in multi-UAV collaborative task execution scenarios,a resource-adaptive multi-UAV collaborative autonomous task schedu-ling scheme is presented,then a dynamic model-based multi-UAV collaborative autonomous trajectory control strategy is discussed.Finally,a robust control mechanism in imperfect multi-UAV collaborative environment is proposed.
unmanned aerial vehiclesknowledge representationcollaborative task perceptionintegrated sensing and com-municationtask planning
国家科技期刊平台
NSTL
万方数据
