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自主水下航行器协同控制研究现状与发展趋势

闫敬 陈天明 关新平 杨晛 罗小元

闫敬, 陈天明, 关新平, 等. 自主水下航行器协同控制研究现状与发展趋势[J]. 水下无人系统学报, 2023, 31(1): 108-120 doi: 10.11993/j.issn.2096-3920.2022-0096
引用本文: 闫敬, 陈天明, 关新平, 等. 自主水下航行器协同控制研究现状与发展趋势[J]. 水下无人系统学报, 2023, 31(1): 108-120 doi: 10.11993/j.issn.2096-3920.2022-0096
YAN Jing, CHEN Tian-ming, GUAN Xin-ping, YANG Xian, LUO Xiao-yuan. Autonomous Undersea Vehicle Cooperative Control: Current Research Status and Development Trends[J]. Journal of Unmanned Undersea Systems, 2023, 31(1): 108-120. doi: 10.11993/j.issn.2096-3920.2022-0096
Citation: YAN Jing, CHEN Tian-ming, GUAN Xin-ping, YANG Xian, LUO Xiao-yuan. Autonomous Undersea Vehicle Cooperative Control: Current Research Status and Development Trends[J]. Journal of Unmanned Undersea Systems, 2023, 31(1): 108-120. doi: 10.11993/j.issn.2096-3920.2022-0096

自主水下航行器协同控制研究现状与发展趋势

doi: 10.11993/j.issn.2096-3920.2022-0096
基金项目: 国家自然科学基金优青项目资助(62222314)
详细信息
    作者简介:

    闫敬:闫 敬(1985−), 男, 博士生导师, 教授, 主要研究方向为水下机器人/传感网协同监测

  • 中图分类号: TJ630.33; U664.82; TP273.2

Autonomous Undersea Vehicle Cooperative Control: Current Research Status and Development Trends

  • 摘要: 自主水下航行器(AUV)的协同控制作为海洋开发和多机器人系统之间的交叉领域, 近几十年来越来越受到研究人员和工程师的关注。目前, AUV协同控制理论体系尚处于构建之中, 相关研究正面临诸多亟待解决的难题。文中对多 AUV 协同控制问题中的编队控制、协同导航和定位、协同路径规划、任务分配以及目标围捕等研究进行了全面调研, 同时分析了编队控制的网络架构、协同策略以及其面临的约束等问题。最后讨论了未来可能研究的相关方向, 为在复杂的海洋应用场景中合理利用AUV来完成各种水下任务提供相关参考。

     

  • 图  1  多AUV协同控制场景

    Figure  1.  Scenario of the cooperation control for multi-AUVs

    图  2  美国防部无人系统发展路线图部分封面

    Figure  2.  Partial covers of the unmanned system development roadmaps of US department of defense

    图  3  AUV编队控制架构图

    Figure  3.  Architecture diagram of AUV formation control

    图  4  合同网算法原理图

    Figure  4.  Schematic diagram of contract network algorithm

    图  5  多AUV探测−通信−控制一体化设计

    Figure  5.  Co-design of detection, communication and control for multi-AUVs

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出版历程
  • 收稿日期:  2022-12-20
  • 修回日期:  2023-01-10
  • 录用日期:  2023-01-10
  • 网络出版日期:  2023-01-19

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