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多UUV协调控制技术研究现状及发展趋势

严浙平 刘祥玲

严浙平, 刘祥玲. 多UUV协调控制技术研究现状及发展趋势[J]. 水下无人系统学报, 2019, 27(3): 226-231. doi: 10.11993/j.issn.2096-3920.2019.03.001
引用本文: 严浙平, 刘祥玲. 多UUV协调控制技术研究现状及发展趋势[J]. 水下无人系统学报, 2019, 27(3): 226-231. doi: 10.11993/j.issn.2096-3920.2019.03.001
YAN Zhe-ping, LIU Xiang-ling. Research Status and Development Trend of Multi-UUV Coordinated Control Technology: A Review[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 226-231. doi: 10.11993/j.issn.2096-3920.2019.03.001
Citation: YAN Zhe-ping, LIU Xiang-ling. Research Status and Development Trend of Multi-UUV Coordinated Control Technology: A Review[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 226-231. doi: 10.11993/j.issn.2096-3920.2019.03.001

多UUV协调控制技术研究现状及发展趋势

doi: 10.11993/j.issn.2096-3920.2019.03.001
基金项目: 国家自然科学基金项目资助(51105088、51179038、51609048)
详细信息
    作者简介:

    严浙平(1972-), 男, 博士, 教授, 主要研究方向为水下无人航行器导航与控制技术.

  • 中图分类号: TJ630.33; U674.941; TP273

Research Status and Development Trend of Multi-UUV Coordinated Control Technology: A Review

  • 摘要: 为了使无人水下航行器(UUV)更好地完成复杂海洋任务, 需要通过多UUV系统协调控制来实现大规模协同侦察、作战、搜索及营救等任务。文中对编队控制、任务分配、协调路径规划和围捕等多UUV协调控制研究中的关键技术研究现状及进展进行综述, 重点分析了编队控制中的队形保持、队形重构、协同避障以及编队控制衍生出的集群控制等问题。最后指出, 应加强对强耦合非线性模型的协调控制、弱通信约束条件下的协调控制以及异构多UUV系统的协调控制等研究工作, 以实现复杂海洋环境下多UUV的有效协调控制。

     

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出版历程
  • 收稿日期:  2018-09-30
  • 修回日期:  2019-01-08
  • 刊出日期:  2019-06-30

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