无人集群系统协同运动规划技术综述

An unmanned ground swarm system consists of multiple unmanned ground mobile platforms, which can achieve common objectives through cooperation and has promising applications in military and transportation systems. Cooperative motion planning is one of the key technologies in the cooperation of unmanned swarm systems or vehicles. It has received increasing attention in both theoretical and application research. This review summarizes and analyzes recent advances in cooperative motion planning of unmanned swarm systems, and provides the background of relevant research. Then the techniques utilized in cooperative motion planning and its applications are briefly discussed considering its development in China and beyond. These techniques are categorized according to different frameworks and algorithms. With such a classification, representative works are discussed regarding their features. Moreover, the challenges and future development of cooperative motion planning are proposed.