摘要
随着水下无人潜航器技术的发展和日渐成熟,单一水下无人潜航器已不能满足需求的发展,这就使多水下无人潜航器以集群的形式互相协作执行任务成为了水下无人潜航器发展的必然趋势。本文从军事领域和民用领域两方面介绍了国外主要水下无人潜航器集群项目,包括项目设立目标和发展情况;分析了水下无人潜航器集群的一些关键技术的国内外研究现状和发展趋势,主要包括集群智能控制、通信网络设计、任务规划、路径规划、编队控制和导航定位等方面;最后对水下无人潜航器集群系统发展做出展望。
Despite the development and maturity of unmanned underwater vehicle(UUV) technology, a single UUV can no longer meet development needs, which makes the swarm control and collaborative operation of UUVs an inevitable trend for UUV development. In this paper, we mainly introduce UUV swarm projects in military and civilian areas abroad, including project establishment goals and developments. We also present the most recent domestic and overseas research status of some key technologies of UUV swarm, including control using swarm intelligence, communication network design, mission planning, path planning, formation control, navigation, and localization. Finally, we propose some perspectives regarding UUV swarm systems.
作者
张伟
王乃新
魏世琳
杜雪
严浙平
ZHANG Wei;WANG Naixin;WEI Shilin;DU Xue;YAN Zheping(College of Automation,Harbin Engineering University,Harbin 150001,China)
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2020年第2期289-297,共9页
Journal of Harbin Engineering University
基金
国家自然科学基金项目(51609046)
关键词
水下无人潜航器集群
集群智能
路径规划
任务规划
编队控制
通信网络
关键技术
导航定位
unmanned underwater vehicle(UUV) swarm
swarm intelligence
path planning
mission planning
formation control
communication network
key technology
navigation and localization
