摘要
设计了一种水下无人航行器异构体组网观探测系统,由波浪滑翔器和多台水下滑翔机构成异构体编队。编队控制系统进行统一任务分配、路径规划和信息融合等。该系统能够解决多台水下滑翔机编队集群任务调度、运动控制、状态监控等问题,有利于发挥水下无人航行器编队协同作业效能,实现功能互补,充分发挥各自最大效能。
An unmanned underwater vehicle isomer group network observation detection system was designed,and a wave glider+underwater glider multi-isomer underwater unmanned aerial vehicle observation detection system was established,in which the formation control system undertakes unified task allocation,path planning and information fusion.The system can solve the problems of task scheduling,motion control and state monitoring of multiple underwater glider formation,which is beneficial to giving full play to the cooperative operation efficiency of unmanned underwater vehicle formation,realizing functional complementation and giving full play to their maximum efficiency.
作者
张文清
张小川
田德艳
邹佳运
ZHANG Wenqing;ZHANG Xiaochuan;TIAN Deyan;ZOU Jiayun(Naval Submarine Academy, Qingdao 266199, China;National Laboratory for Marine Science and Technology, Qingdao 266237, China)
出处
《兵器装备工程学报》
CSCD
北大核心
2021年第S01期14-17,共4页
Journal of Ordnance Equipment Engineering
基金
国家重点研发计划项目(2019YFC0311700)
2019年国防科技创新特区项目
中国博士后科学基金特别资助项目(2020T130771)。
关键词
组网应用
观探测系统
水下无人
编队指控
networking application
observation systems
unmanned underwater vehicle
formation charges
