论文标题
从多模式约束的角度来看，无人的地表车辆路径计划：全面分析
Unmanned Surface Vehicle Path Planning from the Perspective of Multi-Modality Constraints: A Comprehensive Analysis
论文作者
论文摘要
路径计划问题的本质是多模式的约束。但是，当前大多数文献尚未提及这个问题。本文介绍了基于多模式约束的路径规划的研究进度。多模式约束研究的路径规划可以根据其基本成分（例如形状，运动学和动力学等）分为三个阶段：路线规划，轨迹计划和运动计划。然后，它回顾了研究方法和经典算法，尤其是在每个阶段应用于无人的地表车辆（USV）的算法。最后，本文指出了每个阶段中的一些现有问题，并提出了未来研究的建议。
The essence of the path planning problems is multi-modality constraint. However, most of the current literature has not mentioned this issue. This paper introduces the research progress of path planning based on the multi-modality constraint. The path planning of multi-modality constraint research can be classified into three stages in terms of its basic ingredients (such as shape, kinematics and dynamics et al.): Route Planning, Trajectory Planning and Motion Planning. It then reviews the research methods and classical algorithms, especially those applied to the Unmanned Surface Vehicle (USV) in every stage. Finally, the paper points out some existing problems in every stage and suggestions for future research.
