A Review on Cooperative Motion Planning of Unmanned Vehicles

doi:10.12382/bgxb.2022.0930

Abstract

Abstract:

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.

Key words: unmanned vehicles, cooperation of multiple vehicles, motion planning, cooperation of multi-agent systems

CLC Number:

TJ301

KONG Guojie, FENG Shi, YU Huilong, JU Zhiyang, GONG Jianwei. A Review on Cooperative Motion Planning of Unmanned Vehicles[J]. Acta Armamentarii, 2023, 44(1): 11-26.

Figures/Tables 8

Fig.1 Applications of cooperative motion planning

Fig.2 Research status of cooperative multi-vehicle systems

Fig.3 Framework of multi-vehicle path planning

Fig.4 Illustration of CBS algorithm[74]

Fig.5 Multi-vehicle cooperative planning algorithms based on pre-constructed collision detection[79]

Fig.6 Distributed multi-vehicle cooperative planning based on optimization

Fig.7 Velocity obstacle-based methods[120]

Fig.8 Game theory-based multi-vehicle cooperative planning

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