多无人机路径规划是一个复杂的多约束组合优化问题, 通过传统算法很难求得优良结果, 元启发式算法由于其快速高效成为解决该类优化问题的有效手段. 本文首先针对多无人机路径规划的关键要素提出了一种新的分类方法. 其次, 从算法改进方式入手, 对各项研究中所采用的元启发式算法进行分类梳理, 阐述了它们的应用效果和优缺点, 并根据提出的分类方法和研究特点归纳了当前的研究成果. 最后, 结合目前多无人机路径规划研 究存在的问题对未来发展趋势进行了展望.
Multi-UAV path planning is a complex multi-constraint combinatorial optimization problem, which is difficult to obtain good results through traditional algorithms. Recently, metaheuristic algorithm has become an effective means to solve this kind of optimization problem because of its high efficiency. Firstly, a new classification method is proposed for the key elements of multi-UAV path planning. Secondly, we classify and discuss the improvement methods of metaheuristic algorithms used in the research results, elaborate the application performance, advantages and disadvantages of these algorithms, and summarize the current research results according to the proposed classification methods and research characteristics. Finally, the future development trend is prospected based on the existing problems in the current multi-UAV path planning research.