多自主式水下机器人的路径规划和控制技术研究综述  

A review of path planning and cooperative control for MAUV systems

作　　者：赵蕊[1] 许建[1] 向先波[2] 徐国华[2] ZHAO Rui;XU Jian;XIANG Xianbo;XU Guohua(China Ship Development and Design Center,Wuhan 430064,China;School of Naval Architecture and Ocean Engineering,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]中国舰船研究设计中心,湖北武汉430064 [2]华中科技大学船舶与海洋工程学院,湖北武汉430074

出　　处：《中国舰船研究》2018年第6期58-65,共8页Chinese Journal of Ship Research

基　　金：国家自然科学基金资助项目(51579111);海洋工程国家重点实验室研究基金资助项目(201504)

摘　　要：自主式水下机器人(AUV)是海洋资源勘探和开发的重要工具,在民用和军用领域都发挥着重要作用。随着AUV技术的逐步成熟,通过构建多自主式水下机器人(MAUV)系统,令多个AUV协作完成水下作业任务已成为当前的发展趋势。MAUV系统对提高水下机器人的智能化水平及发展海洋化装备具有重要的理论研究意义和实用价值。介绍目前MAUV系统的应用现状和科研进展,并对MAUV协同路径规划和集群协同控制技术等研究热点进行系统化梳理,着重分析人工智能优化和编队协同的关键技术。最后,对MAUV系统未来的发展方向进行展望。The Autonomous Underwater Vehicle(AUV)is an important tool for ocean exploration and the exploitation of underwater resources,which plays important roles in civilian and military fields.Along with the research progress of AUVs,it has become the current development trend to cooperate on completing underwater operations by constructing the Multiple Autonomous Underwater Vehicle(MAUV)system.The MAUV system has important theoretical research significance and practical value for improving the intelligence level of underwater vehicles and developing marine equipment.In this paper,the state of the art of the MAUV is presented from the point of view of practical application and scientific research.The main methods of path planning and cooperative control for MAUV are illustrated,including artificial intelligence and formation control techniques.Finally,the research trends of MAUV are also discussed and the main topic is highlighted.

关 键 词：多自主式水下机器人系统 路径规划 集群协同 编队控制 

分 类 号：U674.941[交通运输工程—船舶及航道工程]