综述自主无人机路径规划中的决策方法，助力真实场景应用。
Decision-Making-Based Path Planning for Autonomous UAVs: A Survey
- 分类梳理探索与信息采集路径规划的决策机制。
- 分析数据建模方式如何影响路径规划效果。
- 适合从事无人机自主导航研究者参考。
自主无人机成功运行的关键能力之一是基于环境感知信息做出决策。每架无人机在飞行中需根据系统与环境的不确定性作出判断，并据此调整行为，进而形成路径规划。决策直接影响无人机未来行为，因此决策驱动的路径规划是实现无人机真实应用的核心技术。本综述系统回顾了现有研究中涉及决策机制的路径规划工作，梳理了探索路径规划与信息采集路径规划两大研究方向，重点分析数据建模与理解方式的特征。最后，指出该领域当前面临的主要挑战。
原文摘要 · Abstract (English)
One of the most critical features for the successful operation of autonomous UAVs is the ability to make decisions based on the information acquired from their surroundings. Each UAV must be able to make decisions during the flight in order to deal with uncertainties in its system and the environment, and to further act upon the information being received. Such decisions influence the future behavior of the UAV, which is expressed as the path plan. Thus, decision-making in path planning is an enabling technique for deploying autonomous UAVs in real-world applications. This survey provides an overview of existing studies that use aspects of decision-making in path planning, presenting the research strands for Exploration Path Planning and Informative Path Planning, and focusing on characteristics of how data have been modeled and understood. Finally, we highlight the existing challenges for relevant topics in this field.
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