海洋自主无人系统跨域协同任务规划模型与技术发展研究  

Model and Technology Development of Cross-domain CooperativeMission Planning for Ocean Autonomous Unmanned System

作　　者：王亮 徐同乐 肖玉杰 李烨 靳子荣 郑升武 WANG Liang;XU Tongle;XIAO Yujie;LI Ye;JIN Zirong;ZHENG Shengwu(Naval Research Institute,Beijing 100161,China;Unit 92681 of PLA,Shanghai 200000,China)

机构地区：[1]海军研究院,北京100161 [2]92681部队,上海200000

出　　处：《兵工学报》2024年第S02期1-8,共8页Acta Armamentarii

摘　　要：跨域协同任务规划是无人系统实现集群化、自主化、多功能化的关键技术和重要支撑。主要聚焦海洋自主无人系统,阐述了无人系统跨域协同任务规划的基本概念和原则特点,分析了跨域无人集群典型应用案例,提出了无人系统跨域协同任务规划的控制结构和基本流程,构建了分布式任务规划模型,并通过剖析现阶段存在的突出问题,总结了下一步研究展望,以期为我国海洋自主无人系统建设和发展提供一定的参考。Cross-domain collaborative mission planning is the key technology and important support for the clustering,autonomization and multifunctionalization of unmanned systems.Focusing on ocean autonomous unmanned system,the basic concept,principle and characteristics of unmanned system cooperative mission planning are expounded,and the typical application cases of unmanned system cooperative mission planning are analyzed.The basic process and control structure of unmanned system cooperative mission planning are presented.A distributed mission planning model is constructed.The future research prospects are summarized by analyzing the existing problems in order to provide some reference for the construction and development of ocean autonomous unmanned system.

关 键 词：跨域协同 海洋自主无人系统 控制架构 分布式任务规划模型 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]