Review of Autonomous Flight Control Technology for Unmanned Aerial Vehicles in Complex Environments

With the rapid advancement of Unmanned Aerial Vehicles (UAVs) technology, its application value and penetration have been continuously enhanced in various fields, especially in surveying and mapping exploration, emergency rescue, logistics and transportation, and military fields. However, in some complex environments such as urban building clusters, indoor spaces, mountainous terrain, and areas with dynamic obstacles, achieving safe and efficient autonomous flight of UAVs still faces numerous difficulties and challenges. This paper systematically reviews the autonomous flight control technology of UAVs in these complex environments, elaborates on the core technical framework of this field, and introduces the latest research achievements and future development trends at home and abroad. It focuses on four key modules: environmental perception, path planning, obstacle avoidance, and robust control systems. Research shows that multi-sensor fusion technology for perception, intelligent path planning based on deep reinforcement learning, multi-UAV cooperative obstacle avoidance technology, and robust control technology driven by reinforcement learning have become the main research trends in this field. By comprehensively sorting out relevant research results at home and abroad, this paper constructs the context of technological development, hoping to provide certain reference for future research in the field of UAV autonomous flight control.