水空航行器跨介质策略研究  

Research of Trans Medium Strategy for'Unmanned Aerial-Undersea V ehicles

作　　者：刘坤 刘永强 林好 肖军浩 彭辉[2] 鲁兴举 卢惠民 LIU Kun;LIU Yongqiang;LIN Hao;XIAO Junhao;PENG Hui;LU Xingju;LU Huimin(National University of Defense Technology,College of Intelligence Science and Technology,Changsha 410000,China;Central South University,School of Electronic Information,Changsha 410000,China)

机构地区：[1]国防科技大学智能科学学院,湖南长沙410000 [2]中南大学电子信息学院,湖南长沙410000

出　　处：《水下无人系统学报》2024年第3期396-410,共15页Journal of Unmanned Undersea Systems

基　　金：国家重点研发计划项目资助(2022YFB4701600).

摘　　要：水空跨介质航行器(UAUV)在军民领域均有广阔的应用前景,近年来成为机器人领域的热点研究对象。文章详细介绍了现有的仿生式、旋翼式、固定翼式和混合式UAUV样机研制现状,并对其出入水策略进行了综述。总结出UAUV研究中面临的重要问题,包括仿生构型的优化设计、跨介质过程稳定控制以及动力选择等,为后续跨介质航行器的研究发展提供借鉴。Unmanned aerial-undersea vehicles(UAUVs),with broad application prospects in both military and civilian fields,have gradually become a research hotspot in the field of robotics in recent years.UAUVs were taken as the research object in this study,and the development status of the bionic,multirotor,fixed-wing,and hybrid UAUV prototypes were discussed.In addition,the water-entry/exit strategies of the prototypes were reviewed.The important issues faced in the research on UAUVs were summarized,including the optimal design of bionic configuration,stability control during the trans-medium process,and propulsion selection,providing a reference for the subsequent research and development of trans-medium vehicles.

关 键 词：水空跨介质航行器 出入水策略 动力选择 稳定控制 

分 类 号：TJ630[兵器科学与技术—武器系统与运用工程] U674[交通运输工程—船舶及航道工程]