引用本文:孙伟昌,罗志浩,石建迈,刘忠.无人机覆盖路径规划方法综述[J].控制理论与应用,2026,43(4):709~727.[点击复制]
SUN Wei-chang,LUO Zhi-hao,SHI Jian-mai,LIU Zhong.A survey on coverage path planning method for UAV[J].Control Theory & Applications,2026,43(4):709~727.[点击复制]
无人机覆盖路径规划方法综述
A survey on coverage path planning method for UAV
摘要点击 230  全文点击 36  投稿时间：2024-01-03  修订日期：2025-12-19
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DOI编号  10.7641/CTA.2024.40006
  2026,43(4):709-727
中文关键词  无人机  覆盖路径规划  环境建模  规划模型  路径规划算法
英文关键词  UAV  coverage path planning  environment modeling  planning model  path planning algorithm
基金项目  国家自然科学基金项目(72271241, 72301290)资助.
作者单位E-mail
孙伟昌 国防科技大学系统工程学院 sunweichang18@nudt.edu.cn 
罗志浩* 国防科技大学系统工程学院 luozhihao15@nudt.edu.cn 
石建迈 国防科技大学系统工程学院  
刘忠 国防科技大学系统工程学院  
中文摘要
      无人机具有成本低、机动灵活、贴近侦察等优点, 在执行区域覆盖扫描任务时能够有效提高作业效率, 被 广泛应用于战场侦察、农业植保、野外搜救、林区监测等军事和民用领域. 当前无人机覆盖路径规划问题已成为无 人机自控领域的研究重点. 本文系统梳理了近年来无人机覆盖路径规划问题的主要研究文献, 分析了问题的概念、 特点和分类, 从环境建模方法、问题模型和规划算法3个方面进行了分类综述. 其中, 在路径规划算法中, 对研究中 涉及的经典算法、构造式启发式算法、元启发式算法和以及学习类等算法进行了分析总结. 最后, 对无人机覆盖路 径规划问题研究的发展趋势进行了总结和展望.
英文摘要
      Unmanned aerial vehicle (UAV) possesses the advantages of cost-effectiveness, adaptability, and close-range reconnaissance, thereby significantly enhancing operational efficiency in area coverage scanning tasks. Consequently, it finds extensive applications in both military and civilian domains such as battlefield surveillance, agricultural crop protection, search and rescue operations, and forest monitoring. Currently, the coverage path planning problem for UAV has become a focal point in the field of UAV automatic control. This paper provides a systematic review of recent research literature on UAV coverage path planning, analyzing the problem’s concept, characteristics and classification, and conducts a classified review from three perspectives: Environmental modeling methods, problem models and planning algorithms. In terms of path planning algorithms, the classical algorithm, constructive heuristic algorithm, meta-heuristic algorithm and learning algorithm involved in the research are analyzed and summarized. Finally, the development trend of UAV coverage path planning is summarized and prospected.