AUV智能化现状与发展趋势  

State-of-the-Art and Development Trends of AUV Intelligence

作　　者：黄琰[1,2,3] 李岩[1,2] 俞建成 李硕[1,2] 封锡盛[1,2] HUANG Yan;LI Yan;YU Jiancheng;LI Shuo;FENG Xisheng(Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [3]中国科学院大学,北京100049

出　　处：《机器人》2020年第2期215-231,共17页Robot

基　　金：国家自然科学基金创新研究群体科学基金(61821005);国家重点研发计划(2016YFC0301601);国家自然科学基金青年基金(51809256);机器人学国家重点实验室基金(2015-Z09).

摘　　要：归纳总结了国内外AUV单体平台与人工智能方法相结合的主要成果.从探测感知、航行控制决策、路径规划、故障诊断等核心技术环节进行深入剖析,探讨了人工智能方法在AUV典型作业场景下的应用.最后,指出了AUV的智能化发展趋势.The state-of-the-art of the AUV(autonomous underwater vehicle) incorporating the artificial intelligence methods at home and abroad are summarized. A number of core technologies are analyzed, including detection and perception,control decision in navigation, path planning and fault diagnosis, and the applications of the artificial intelligence methods in AUV typical application scenarios are investigated. Finally, the intelligence development trends of AUV are pointed out.

关 键 词：自主水下机器人 人工智能 自主感知 智能决策 运动控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]