关键词: 低空经济, 低空无人机, 避障决策, 航路规划, 安全控制, 抗干扰控制, 多约束控制

Abstract: As one of the representative industries of new-quality productive forces, the low-altitude economy can not only create new economic growth points but also drive the development of multiple related industries such as low-altitude manufacturing, low-altitude flight, low-altitude support, and integrated services. It holds multiple important significances for boosting economic growth and promoting technological innovation. Intelligent obstacle avoidance decision-making and safety control of low-altitude UAVs are the prerequisites for ensuring efficient and safe transportation of low-altitude UAVs, and thus have become one of the research hotspots in the field of low-altitude economy in recent years. Based on existing research achievements at home and abroad, the research status of intelligent obstacle avoidance decision-making and safety control technologies are reviewed for low-altitude UAVs and prospects their future development directions in this paper. Specifically, it summarizes the currently solved key technologies from the aspects of safety obstacle avoidance decision-making for low-altitude UAVs, safe path planning, safety control of low-altitude UAVs under satellite signal denial, safety control of low-altitude UAVs under disturbance, and safety control of low-altitude UAVs under multiple constraints. Finally, the future study directions of intelligent obstacle avoidance decision-making and safety control are prospected for low-altitude UAVs.

Key words: low-altitude economy, low-altitude UAVs, obstacle avoidance decision-making, path planning, safety control, anti-disturbance control, multi-constraint control