多模态/可重构地面运载平台技术进展及发展建议

doi:10.3981/j.issn.2097-0781.2025.02.009

前瞻科技 ›› 2025, Vol. 4 ›› Issue (2): 115-129.DOI: 10.3981/j.issn.2097-0781.2025.02.009

多模态/可重构地面运载平台技术进展及发展建议

刘辉¹^,^†(), 皮大伟², 秦也辰¹, 崔星³, 汪洋³, 谭森起³

1.北京理工大学智能无人系统技术国家级重点实验室，北京 100081
2.南京理工大学机械工程学院，南京 210094
3.中兵智能创新研究院，北京 100071

收稿日期:2024-12-28 修回日期:2025-03-28 出版日期:2025-06-20 发布日期:2025-06-26
通讯作者: †
作者简介:刘辉，北京理工大学特聘教授，博士研究生导师。北京理工大学智能无人系统技术国家级重点实验室副主任，教育部“多模态智能机器人及系统”集成攻关大平台副主任，北京理工大学机械与车辆学院车辆工程系主任。入选国家高层次领军人才。中国汽车工程学会越野车技术分会副主任委员，中国兵工学会坦克装甲车辆专业委员会副主任委员，武警部队通用车辆装备技术应用专家咨询小组成员，中国机械工程学会机械设计分会委员等。主要从事车辆动力学与控制、混合动力车辆电传动、多模态特种车辆理论与技术等研究。主持国家自然科学基金重点项目、国防重大背景预研项目、国防科工局基础产品创新计划、国防科技创新特区重点项目等科研项目。获国家技术发明奖一等奖1项、国防科学技术进步奖一等奖3项。发表论文140余篇，授权发明专利30余件。电子信箱：lh@bit.edu.cn。
基金资助:
国家自然科学基金(52130512)

Technological Advances and Development Recommendations for Multimodal/Reconfigurable Ground Transport Platforms

LIU Hui¹^,^†(), PI Dawei², QIN Yechen¹, CUI Xing³, WANG Yang³, TAN Senqi³

1. National Key Laboratory of Intelligent Unmanned System Technology, Beijing Institute of Technology, Beijing 100081, China
2. School of Mechanical Engineering, Nanjing University of Science & Technology, Nanjing 210094, China
3. China North Artificial Intelligence & Innovation Research Institute, Beijing 100071, China

Received:2024-12-28 Revised:2025-03-28 Online:2025-06-20 Published:2025-06-26
Contact: †

摘要/Abstract

摘要：

阐述了多模态/可重构地面运载平台的概念内涵，以及多模态/可重构地面运载平台的应用场景与意义。对多模态/可重构地面运载平台的背景需求进行分析，并从国外与国内两个维度对多模态/可重构地面运载平台的发展脉络开展梳理，进而提出多模态/可重构地面运载平台所面临的发展机遇与技术挑战。为抓住当前蓬勃发展的机遇与应对切实存在的技术挑战，从多模态/可重构地面运载平台的构型设计、环境感知、运动规划、控制算法4个方面开展讨论，从标准化设计体系、智能控制体系、测试验证体系方面提出发展建议。

关键词: 多模态/可重构运载平台, 机构设计, 轨迹规划, 智能控制

Abstract:

The article begins by the definition of the conceptual essence of multimodal/reconfigurable ground transport platforms, which is followed by elaboration on their application scenarios and significance. Subsequently, it analyzes the background and demands for such platforms and traces their developmental trajectory from both international and domestic perspectives, thereby identifying the opportunities and technical challenges they face. To seize the current flourishing opportunities and address the existing technical challenges, the discussion is conducted across four aspects: configuration design, environmental perception, motion planning, and control algorithms of multimodal/reconfigurable ground transport platforms. Finally, the article proposes forward-looking recommendations from the perspectives of standardized design systems, intelligent control systems, and testing and verification systems.

Key words: multimodal/reconfigurable ground transport platforms, mechanism design, trajectory planning, intelligent control

刘辉, 皮大伟, 秦也辰, 崔星, 汪洋, 谭森起. 多模态/可重构地面运载平台技术进展及发展建议[J]. 前瞻科技, 2025, 4(2): 115-129.

LIU Hui, PI Dawei, QIN Yechen, CUI Xing, WANG Yang, TAN Senqi. Technological Advances and Development Recommendations for Multimodal/Reconfigurable Ground Transport Platforms[J]. Science and Technology Foresight, 2025, 4(2): 115-129.

图/表 4

图1 多模态/可重构地面运载平台重要作用

Fig. 1 Significant role of multimodal/reconfigurable ground transport platforms

图2 多模态/可重构地面运载平台在军民领域中的应用

Fig. 2 Application of multimodal/reconfigurable ground transport platforms in military and civilian fields

图3 多模态/可重构地面运载平台

Fig. 3 Multimodal/reconfigurable ground transport platforms

图4 多模态/可重构地面运载平台技术挑战

Fig. 4 Technical challenges of multimodal/reconfigurable ground transport platforms

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多模态/可重构地面运载平台技术进展及发展建议

Technological Advances and Development Recommendations for Multimodal/Reconfigurable Ground Transport Platforms

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