Unmanned aerial vehicles(UAVs)play an important role in various industries,and the cooperation between multiple UAVs has become a research hotspot.Aiming at the two core problems of task assignment and path planning,firstly,the complexity between the two key problems of multi-UAV cooperative planning and the information coupling factors between the sub-problems are sorted out and analyzed,and the decoupling strategy is focused on.Secondly,the general model of multi-UAV cooperative planning problem is described in terms of mathematical model,and the common environment modeling methods and constraints of multi-objective optimization solution are sorted out and summarized.Thirdly,the task planning methods based on centralized and distributed control,and the application and research progress of heuristic algorithms in multi-UAV cooperative planning are summarized,and the cooperative planning methods under the real-time requirements of the multi-UAV cooperative planning problem are also emphasized.Lastly,in conjunction with the typical research,the future research methods and challenges of the multi-UAV cooperative planning problem are discussed,and the development of the multi-UAV cooperative planning is anticipated.
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