多UUV协调控制技术研究现状及发展趋势

严浙平; 刘祥玲

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

哈尔滨工程大学自动化学院, 黑龙江哈尔滨, 150001

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
计量
- 文章访问数: 1976
- HTML全文浏览量: 31
- PDF下载量: 1012
- 被引次数: 0
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

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

College of Automation, Harbin Engineering University, Harbin 150001, China

摘要

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。
- 无人水下航行器 /
- 协调控制 /
- 编队控制 /
- 任务分配 /
- 协调路径规划 /
- 围捕
Abstract: Coordinated control of multi-unmanned undersea vehicle(UUV) is necessary to complete the missions like cooperative reconnaissance, cooperative combat, cooperative search and cooperative rescue. In this paper, the research status and development of key technologies in coordinated control of multi-UUV worldwide are summarized in terms of formation control, task assignment, coordinated path planning and target capturing. The formation maintenance, the formation reconfiguration, the cooperative obstacle avoidance, and the swarm control derived from formation control are discussed in detail. It is emphasized that more attention should be paid to the coordinated control of strongly-coupled non-linear model, the coordinated control under limited communication constraints in underwater environment, and the coordinated control of heterogeneous multi-UUV systems, so as to achieve a more effective coordinated control method of multi-UUV in complex marine environment
- unmanned undersea vehicle(UUV) /
- coordinated control /
- formation control /
- task assignment /
- coordinated path planning /
- target capturing

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参考文献(32)

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