无人自主系统分布式协同控制研究综述  

A Review of Distributed Cooperative Control Research on Unmanned Autonomous Systems

作　　者：任鸿儒 刘庆海 周琪 鲁仁全 Ren Hong-ru;Liu Qing-hai;Zhou Qi;Lu Ren-quan(School of Automation,Guangdong University of Technology,Guangzhou 510006,China;Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Control,Guangdong University of Technology,Guangzhou 510006,China;Guangdong Provincial Key Laboratory for Intelligent Decision and Cooperative Control,Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]广东工业大学自动化学院,广东广州510006 [2]广东工业大学粤港智能决策与协同控制联合实验室,广东广州510006 [3]广东工业大学广东省智能决策与协同控制重点实验室,广东广州510006

出　　处：《广东工业大学学报》2024年第4期1-13,共13页Journal of Guangdong University of Technology

基　　金：国家自然科学基金资助项目(62121004,62033003,U23A20341);广东省基础与应用基础研究基金资助项目(2023A1515011527,2022A1515011506,2023B1515120010)。

摘　　要：随着信息技术、人工智能和机器人技术的飞速发展,无人自主系统在军事、航空航天、海洋探索、灾难救援以及智能交通等领域展现出巨大的应用潜力。分布式协同控制作为实现多无人自主系统高效、灵活协作的关键技术,已成为研究的热点。本文综述了无人自主系统分布式协同控制的研究进展。首先探讨了在一致性问题、编队控制和分布式优化三个方面的核心理论,然后结合当前多无人自主系统的实际应用,给出了无人机、无人车、无人水面舰艇、无人潜航器和多模态协同控制的最新研究成果介绍,最后探讨了该领域的未来挑战和发展方向。With the rapid development of information technology,artificial intelligence,and robotics,unmanned autonomous systems have demonstrated tremendous application potential in fields such as military,aerospace,marine exploration,disaster rescue,and intelligent transportation.Distributed cooperative control,as a key technology for achieving efficient and flexible collaboration among multiple unmanned autonomous systems,has become a research focus.A review is conducted on the research progress in distributed cooperative control of unmanned autonomous systems.Firstly,it discusses the core theories in the aspects of consensus problems,formation control,and distributed optimization.Then,combining the practical applications of current multiple unmanned autonomous systems,it presents the latest research achievements in unmanned aerial vehicles,unmanned ground vehicles,unmanned surface vessels,unmanned underwater vehicles,and multi-modal cooperative control.Finally,it explores the future challenges and development in this field.

关 键 词：无人自主系统 分布式策略 协同控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]