军用地面无人机动平台技术发展综述

3510201410ACTAAＲMAMENTAＲIIVol．35No．10Oct．2014100081。、、。TP242A1000-1093201410-1696-11DOI10．3969/j．issn．1000-1093．2014．10．0262014-07-21911200101961—。[e-mail]1989—。[e-mail]nMilitaryUnmannedGroundVehiclesCHENHui-yanZHANGYuSchoolofMechanicalEngineeringBeijingInstituteofTechnologyBeijing100081ChinaAbstractUnmannedgroundvehiclesUGVswhichareofgreatstrategicsignificancefordevelopinghighmaneuveringunmannedgroundcombatsystemshavebecomearesearchhotspotofdefensetechnolo-gy．ThedevelopmentandcurrentprogressofUGVsformilitaryapplicationarereviewed．Thefundamen-talcomponentsanddevelopmentcharacteristicsofmilitaryUGVsarestatedandanalyzed．Thekeytech-nologiesofmilitaryUGVsarealsosummarizedintheareasofsensingandperceptionmotionplanningandpathtracking．InadditionthefutureresearchdirectionandfocusofmilitaryUGVsaresuggested．Keywordsordnancescienceandtechnologymilitarymaneuveringunmannedgroundvehicleenviron-mentalperceptionmotionplanningpathtracking0ITS1。2、3。UGV、ALMP、ALV、4。。、、、、。10、、、、、。、、。。12030。4。。2080DOD2。20JＲP5、Demo6－7、TMＲ8、UGCV、Percep-tionOＲ9－10、FCS11、LAGＲ12、UPI1314。DAＲPA200520071516、17。UGCVCMUNＲECCrush-erSpinner。18。2007、、、250km13．APD。61980km/h。CrusherAPD、。2013CMUNＲECCargo3———、20。·AMAS21、SMSS22MULEAＲV-AL23BigDog24－25、LS326。BAEGladiator27、BlackKnight28DiehlBGTCANGUＲUDOK-INGMV29G-NIUSGUAＲDIUMMK30。。30mm、、NＲEC、。1。22.1、、、、、。。。。、、、、、、、GPS。、、、7961351Fig．1Militarymaneuveringunmannedgroundplatforms。、、。、、31。、。32。、、。。、、、。2.2。2.2.10～10km/h3310～60km/h70km/h29。。896110、、、。2.2.2。、、、、、、、18。。2.2.3。、、、。。DAＲPAUGCV14d450km25%。2.2.4、、、、。、、、34。、、。、、、。35、。DAＲPA。、。ＲobotCar、Ｒay、BerthaBenz。33.1、、。、GPS、。3.1.1、、、、、、、、。。、、。、。Lalonde、Demo-ⅢXUV36。JPLＲankin996135、、、37。Milella38、。。、、。Stentz39。Bagnell40。Peynot、、41。Zhao、D-S42。3.1.2、、、。、GPS、、、。GNSS—INS。GNSSGPS、、43、、GPS。INS、、。INSINS。、4445。2007DAＲPAGPS-INS46－49。GPS-INSGPSGPS。IlyasGPS、INSGPS、50。VOSLAM。、、。。VOVO、0.1%～2%VO51。VO、、。Nourani-VataniVO52。HowardVO0.25%。53。DAＲ-PALAGＲBigDog。PerlinVOIMU、54。SLAM。55、56、57、Ｒao-Backwellized58007110、。30SLAM59、、60。SLAM。SLAM61。SLAMGPS。SLAM。MoosmannVelodyneSLAMSLAM61。ChoSLAM。C-62。TamjidiＲANSAC-SLAMGPS1.9%63．Su－SLAM－SLAM64。3.2。、、、、。、。、、。6566、。67－68。132069－70。、、、。。。。。DAＲPA。4、8、16、Dubin71、Ｒeeds-Shepp72、73。Dijkstra74、A*75、D*76。AD*77、DAＲPABOSS、、78。。。、107135。。B79、80、81。。Kelly82。DelsartTiji83。。ＲＲT84－85、86、87。3.3。、。。－－PID。。。PIPD。2007DAＲPALeonardPI88Bachamap-linearizedPIDPID89。。。90－91。。、、。UrmsonCMU92。LeonardMIT88。ValoisGPS28。Stanley93。94。－。。DDLKritayakirana95BerthaBenz96。。LQＲMPC。LQＲLQＲ。Divelbiss199797SniderLQＲ94。LevinsonJunior98。LQＲ207110。MPC。。Falcone21m/s99．YoonXAV100。ZieglerGeigerBethaBenzAnnieWay96101。102103104。4。。1、。2GNSS、INS、VOSLAM、、。3、。4。5、、、、。Ｒeferences1．M．2014．CHENHui-yanXIONGGuang-mingGONGJian-weietal．In-troductiontoself-drivingcarM．BeijingBeijingInstituteofTechnologyPress2014．inChinese2GageDW．UGVhistory101abriefhistoryofunmannedgroundvehicleUGVdevelopmenteffortsADA422845Ｒ．SanDie-goNavalCommandControlandOceanSurveillanceCenter1995．3CarlsonJ．AnalysisofhowmobilerobotsfailinthefieldD．FloridaUniversityofSouthFlorida2004．4LiuXDaiB．ThelateststatusanddevelopmenttrendsofmilitaryunmannedgroundvehiclesC∥2013ChineseAutomationCon-gress．ChangshaHunanIEEE2013533－577．5ToscanoM．DepartmentofdefensejointroboticsprogramC∥AeroSense2000．OrlandoFLUSSPIE2000192－200．6SpoffordJＲＲimeyＲD．DescriptionoftheUGV/DemoIIsystemC∥ProceedingsofAssociationforUnmannedVehicleSystemsInterna-tionalConference．USAUVSI1997255－264．7ShoemakerCMBornsteinJA．OverviewoftheDemoIIIUGVprogramC∥ＲoboticandSemi-ＲoboticGroundVehicleTechnol-ogy．USSPIE1998202－211．8KrotkovEBlitchJ．Thedefenseadvancedresearchprojectsagen-cyDAＲPAtacticalmobileroboticsprogramJ．TheInterna-tionalJournalofＲoboticsＲesearch1999187769－776．9FishS．OverviewofUGCVandPerceptOＲstatusC∥UnmannedGroundVehicleTechnologyV．OrlandoFloridaSPIE2003336－339．10VanFossonMHFishS．ＲoleofroboticsingroundcombatofthefutureUGCVPreceptOＲandFCSC∥UnmannedGroundVehicleTechnologyⅢ．OrlandoFloridaSPIE2001323－327．11FishS．UGVsinfuturecombatsystemsC∥DefenseandSecur-itySymposium．OrlandoFloridaSPIE2004288－291．12JackelLDKrotkovEPerschbacherMetal．TheDAＲPALAGＲprogramgoalschallengesmethodologyandphaseIre-sultsJ．JournalofFieldＲobotics20062311/12945－973．13StentzABaresJPilarskiTetal．Thecrushersystemforau-tonomousnavigationC∥AUVSIsUnmannedSystemsNorthA-merica．LasVegasAssociationforUnmannedVehicleSystemsInternational-UnmannedSystemsNorthAmericaConference2007972－986．14．D．2012．ZHANGHao-jie．Ｒesearchonpathplanningforintelligentvehi-clewithheuristicsearchunderuncertainenvironmentsD．Bei-jingBeijingInstituteofTechnology2012．inChinese30713515BuehlerMIagnemmaKSinghS．The2005DAＲPAgrandchallengeJ．SpringerTractsinAdvancedＲobotics20073651－43．16TheDAＲPAurbanchallengeautonomousvehiclesincitytrafficM．BerlinHeidelbergSpringerInternationalPublishing2009．17WilsonJＲ．DrivingForceDAＲPA’sＲesearcheffortsleadtoadvancementsinroboticsandautonomousnavigationM∥DAＲPA50yearsofbridgingthecap．USFaircountLLCPub-lishing200845－57．18BagnellJABradleyDSilverDetal．Learningforautono-mousnavigationJ．IEEEＲoboti