无人飞行器三维类脑SLAM自主导航方法

随着动物大脑中导航细胞的发现以及人工智能的快速发展，受动物启发的类脑SLAM自主导航方法为突破现有导航方式的瓶颈提供了新的思路。本文针对无人飞行器类脑SLAM自主导航技术的研究进展进行了综述， 包括：1）论述无人飞行器SLAM技术研究现状；2）在二维SLAM导航技术的基础上介绍了三维空间以及单一环境下的类脑SLAM自主导航方案；3）分析了二维及三维类脑SLAM自主导航方案的关键技术；4）最后对现有三维导航方案进行分析验证并指出目前类脑SLAM在无人飞行器上应用时亟需解决的问题。类脑SLAM技术不依赖于高精度传感器、对环境适应性强、自主智能性高，更加适用于无人飞行器复杂动态的飞行环境。

Autonomous Navigation Method of Three-Dimension Brain-Like SLAM for the UAV

With the discovery of navigation cells in animal brain and the rapid development of artificial intelligence, brain-like SLAM autonomous navigation method inspired by animals provides a new idea to break through the bottleneck of existing navigation methods. This paper reviews the research progress of brain-like SLAM autonomous navigation technology for the UAV, concluding: 1) discussing the research status of SLAM technology for the UAV; 2) introducing brain-like SLAM autonomous navigation scheme in the 3D space and single environment on the basis of the 2D SLAM navigation technology; 3) analyzing the key technologies of 2D and 3D brain-like SLAM autonomous navigation scheme; 4) finally analyzing and verifying the existing 3D navigation schemes, and pointing out the problems need to be solved in the brain-like SLAM application of the UAV. Brain-like SLAM does not rely on high-precision sensors, has strong adaptability to the environment and high autonomous intelligence, and is more suitable for the complex and dynamic flight environment of UAV.