A Review of Decision-making and Motion Planning Technology for Unmanned Ground Platforms
Autonomous navigation is the core technology to achieve intelligence and collaborative operation for un-manned ground platforms, while decision-making and planning are crucial for the systems to work intelligently, safely, effi-ciently, and smoothly in complex and interactive scenarios. Firstly, starting from the intelligent decision-making planning of single unmanned platform and collaborative decision-making planning of cluster platform, relevant literatures are reviewed and discussed from the perspectives of technological evolution and application scenarios. For single-platform decision-mak-ing planning, the evolution from rule-based methods to data-driven planning models is delved, the spatiotemporal joint planning and large-scale language model autonomous learning characteristics in dynamic interactive scenarios is mainly dis-cussed. Next, the scope to collaborative planning in complex tasks and environment constraints is extended, an overview of existing methods, from the directions of centralized, distributed, and deep learning-based approaches are provided. Final-ly, the current technology status and potential future directions are summarized.
autonomous drivingdecision-makingmotion planninglarge-scale language modelcluster collaborative planning
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