通信受限条件下无人系统编队协同方法研究综述OA

The communication constraint problems caused by the complex environment are the key bottleneck that restricts the improvement of the effectiveness of unmanned systems formation coordination.At present,although some progress has been made in the research of formation coordination methods under communication constraints,there is still a lack of systematic summarization and in-depth analysis.The prominent issue lies in the unclear definition of communica-tion-constrained conditions,coupled with an ambiguous classification system for existing collaborative methods.There-fore,attention is focused on three typical communication constraints:bandwidth limitation,signal attenuation,and com-munication delay.The causes of these constraints are analyzed in depth,and their differential impacts on the coordination mechanism are elucidated.At the same time,starting from the three dimensions of interaction subject selection,informa-tion refinement coding,and trigger timing decision-making,the existing formation coordination methods under communica-tion constrained are systematically classified,and the technical principles,advantages and limitations,as well as applicable scenarios of each method are further analyzed.Finally,the future research directions are prospected.