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Volume 27 Issue 3
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2019  >  27(3): 226-231
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
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Research Status and Development Trend of Multi-UUV Coordinated Control Technology: A Review

doi: 10.11993/j.issn.2096-3920.2019.03.001

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

  • Received Date: 2018-09-30
  • Rev Recd Date: 2019-01-08
  • Publish Date: 2019-06-30
    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

     

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