ICS 35.240.0 1 CCS L70 T/CICC 中国指挥与控制学会团体标准 T/ CICC 02005-2025 无人系统协同感知、决策与控制 自主规划 Collaborative awareness, decision -making, and control for unmanned systems－Autonomous planning 2025-09-29 发布 2025-09-29 实施 中国指挥与控制学会 发布 全国团体标准信息平台 全国团体标准信息平台 T/CICC 02005 —2025 I 目 次 前言 ................................................................................ IV 1 范围 ............................................................................... 1 2 规范性引用文件 ..................................................................... 1 3 术语和定义 ......................................................................... 1 4 自主规划 ........................................................................... 1 4.1 总体流程 ....................................................................... 1 4.2 总体目标 ....................................................................... 1 4.3 核心特性 ....................................................................... 2 4.3.1 安全性 ................................................................... 2 4.3.2 协同性 ................................................................... 2 4.3.3 实时性 ................................................................... 2 4.3.4 可扩展性 ................................................................. 2 5 规划建模 ........................................................................... 2 5.1 概述 ........................................................................... 2 5.2 环境建模 ....................................................................... 2 5.2.1 地图构建 ................................................................. 2 5.2.2 障碍建模 ................................................................. 2 5.2.3 区域划分 ................................................................. 3 5.2.4 时空约束集成 ............................................................. 3 5.2.5 实时更新 ................................................................. 3 5.3 状态建模 ....................................................................... 3 5.3.1 动力学建模 ............................................................... 3 5.3.2 初始状态设定 ............................................................. 3 5.3.3 边界条件建模 ............................................................. 3 5.3.4 状态不确定性描述 ......................................................... 3 5.3.5 多维度价值评估 ........................................................... 3 5.3.6 状态评估与更新 ........................................................... 3 5.4 通信约束建模 ................................................................... 3 5.4.1 链路状态建模 ............................................................. 3 5.4.2 通信范围建模 ............................................................. 3 5.4.3 安全包络定义 ............................................................. 4 5.4.4 通信策略植入 ............................................................. 4 5.4.5 通信层级建模 ............................................................. 4 5.5 目标建模 ....................................................................... 4 5.5.1 目标解析与分类 ........................................................... 4 5.5.2 目标表达构建 ............................................................. 4 5.5.3 多目标协同关系建模 ....................................................... 4 5.5.4 动态更新机制 ............................................................. 4 全国团体标准信息平台 T/CICC 02005 —2025 II 5.5.5 目标达成评估指标建模 ...................................................... 4 5.6 平台能力约束建模 ................................................................ 4 5.6.1 运动能力约束建模 .......................................................... 4 5.6.2 感知能力约束建模 .......................................................... 4 5.6.3 能源约束模型建模 .......................................................... 4 5.6.4 载荷能力约束建模 .......................................................... 5 5.6.5 计算资源约束建模 .......................................................... 5 6 路径规划 ..........