无人水下航行器智能避碰系统技术研究综述  

Overview of intelligent collision avoidance system technology for unmanned underwater vehicles

作　　者：王亚波[1] 张可[2] 赵恩娇 WANG Yabo;ZHANG Ke;ZHAO Enjiao(Wuhan Institute of No.2 Ship Design and Research,Wuhan 430060,China;Harbin Engineering University,Harbin 150001,China)

机构地区：[1]武汉第二船舶设计研究所,武汉430060 [2]哈尔滨工程大学,哈尔滨150001

出　　处：《兵器装备工程学报》2023年第4期53-59,共7页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(61903099);黑龙江省自然科学基金项目(LH2020F025);重庆市教委重点项目(KJZD-K20200470);中国博士后科学基金项目(2021M690812);黑龙江省博士后科学基金项目。

摘　　要：无人水下航行器作为探索海洋的关键设备,已经广泛用于完成水下搜救、勘测及海洋生物监测等军事和民用领域任务。智能避碰系统是保证无人水下航行器安全航行、高效作业的核心系统,通过处理和反馈水下环境信息辅助无人水下航行器自主控制和作业。无人水下航行器智能避碰系统技术因其在安全航行作业过程中的重要作用逐渐成为领域内研究重点。首先介绍了无人水下航行器智能避碰系统的基本组成和关键技术,其次综述并分析了国内外无人水下航行器的避碰系统技术研究现状,分析并总结了避碰系统中必备的探测传感器和主流的智能避碰路径规划算法的研究现状和优劣势,最后对无人水下航行器的智能避碰系统技术研究现状进行了总结,展望了未来的发展方向。As the key equipment for exploring the ocean,unmanned underwater vehicles have been widely used in military and civil fields such as underwater search and rescue,survey and marine life monitoring.The intelligent collision avoidance system are the core system to ensure safe navigation and efficient operation of an unmanned underwater vehicle.It assists the autonomous control and operation of the unmanned underwater vehicle by processing and feeding back information of the underwater environment.The technology of the intelligent collision avoidance system for unmanned underwater vehicles has gradually become the research focus in the field due to its important role in safe navigation operation.This paper firstly introduces the basic components and key technologies of the intelligent collision avoidance system for unmanned underwater vehicles.Then,it summarizes and analyzes the research status of collision avoidance system technology for unmanned underwater vehicles at home and abroad.The research status as well as advantages and disadvantages of the sensors and the mainstream intelligent collision avoidance path planning algorithms required in the collision avoidance system is also summarized.Finally,the research status of intelligent collision avoidance system technology for unmanned underwater vehicles is summarized,and its future development is prospected.

关 键 词：无人水下航行器 环境感知 模糊控制 粒子算法 人工势场法 

分 类 号：TJ63[兵器科学与技术—武器系统与运用工程]