无人水面艇研究现状与发展趋势  

Research status and development trend of unmanned surface vehicle

作　　者：彭艳[1] 葛磊[1] 李小毛[1] 钟雨轩[1] 张鑫[1] PENG Yan;GE Lei;LI Xiaomao;ZHONG Yuxuan;ZHANG Xin(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China)

机构地区：[1]上海大学机电工程与自动化学院

出　　处：《上海大学学报（自然科学版）》2019年第5期645-654,共10页Journal of Shanghai University:Natural Science Edition

基　　金：国家自然科学基金资助项目(61403245,51675318,61673254);上海市科委地方院校能力建设资助项目(14500500400)

摘　　要：无人水面艇(unmanned surface vehicle,USV)是一种在水面进行自主航行的运载平台,属于海洋机器人的一个重要分支,在军用和民用领域均有广泛的应用前景.由于海洋环境恶劣,以及无人水面艇运动模型非常特殊(如模型高度非线性、强时滞性和时变性等),使得较于无人车和无人机等其他无人系统,无人水面艇的研究面临着特殊的挑战.从态势感知、航行规划和导航、控制这3个方面总结了无人水面艇的研究现状和主要成果,得出了无人水面艇在国内外不同的发展现状和趋势.最后还对无人水面艇的应用需求进行了分析与展望.Unmanned surface vehicle (USV), as an important branch of marine robotics, is a vehicle that operates on the surface of the water automatically, and it can be used for a wide range of military and civil purposes. Compared to other unmanned systems like unmanned aerial vehicle, unmanned ground vehicle and etc., research on USV is more challenging because of the harsh ocean environment and the special motion model of USV, such as high nonlinearity, strong time delay and time varying. This paper summarizes the research status and main achievements of unmanned ships from the aspects of situation awareness, path planning and guidance, and control, and it also describes at some length different development trends of unmanned ships at home and abroad. Finally, forecast on the development and application of unmanned ships in the future is made.

关 键 词：无人水面艇 海洋机器人 发展趋势 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]