搭载任务载荷军用地面无人系统发展综述

With the in-depth research on military unmanned ground systems, it is difficult for a single unmanned ground vehicle (UGV) or mission payload to meet the needs of the modern battlefield. Only with the coordinated development of mission payload and UGVs, the ground unmanned system can truly form combat effectiveness in the battlefield. In order to further promote the development of collaborative technology for the mission payload and UGVs, the development background, research status and technical characteristics of military ground unmanned systems with mission payload are summarized, and then the key technologies of UGV system are elaborated from three aspects: multilevel and multi-dimensional environmental modeling, traversability assessment based on multimodal data, and collaborative planning and control optimization method based on multi-agent collaborative modeling. Relevant research framework and focus of each aspect are summarized, and the future development direction of military ground unmanned systems with mission payload is prospected.