海上无人系统跨域集群发展现状及其关键技术  

Development Status and Key Techniques for Cross-domain Swarm of Maritime Unmanned Systems

作　　者：闫敬[1] 关新平[2,3] YAN Jing;GUAN Xin-Ping(School of Electrical Engineering,Yanshan University,Qinhuangdao 066004;School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240;National Key Laboratory of Underwater Science and Delimitation,Shanghai 201913)

机构地区：[1]燕山大学电气工程学院,秦皇岛066004 [2]上海交通大学电子信息与电气工程学院,上海200240 [3]海底科学与划界全国重点实验室,上海201913

出　　处：《自动化学报》2025年第4期744-761,共18页Acta Automatica Sinica

基　　金：国家自然科学基金(62222314);河北省自然科学基金(F2024203047,F2022203001,F2024203072);中央引导地方基金(226Z 3201G);河北省教育厅基金(JCZX2025027)资助。

摘　　要：随着无人系统技术的快速发展,海上无人系统跨域集群凭借其诸多优点已成为当前无人系统领域研究热点.具体来说,海上无人系统跨域集群是指空中、水面、水下无人平台,通过跨域任务规划与信息交互实现高效集群协作,对提升复杂海洋环境下无人平台应对能力至关重要.目前,海上无人系统跨域集群理论体系还不完善,相关研究正面临诸多亟待解决的难题.为此,首先梳理跨域集群相关概念及其发展现状,分析其面临的挑战与关键问题;进而,从控制理论和通信技术相结合的角度出发,简述跨域集群任务规划、组网传输、协同控制等关键技术的研究进展;最后,结合实际发展情况和未来发展趋势,对海上无人系统跨域集群未来值得深入研究的方向进行总结与展望.With the rapid development of unmanned system technology,the cross-domain swarm of maritime unmanned systems has become a hot research topic in the field of unmanned systems due to its many advantages.Specifically,the cross-domain swarm of maritime unmanned systems refers to the efficient swarm collaboration of air,water surface and underwater unmanned platforms,by means of the cross-domain task planning and information exchange.It is of great significance to enhance the response capability of unmanned platforms in complex marine environments.At present,the theoretical framework of cross-domain swarm for maritime unmanned systems is not mature.The relevant researches are facing many urgent problems to be solved.For that reason,this paper firstly outlines the concepts and development status of cross-domain swarm,through which the challenges and key issues are analyzed.And then,from the perspective of combining control theory and communication technology,we briefly describe the research progress of key technologies,such as the task planning,network transmission,and collaborative control in cross-domain swarm.Finally,based on the actual development situation and future trends,we summarize and look forward to the future research directions worthy of in-depth study on cross-domain swarm of maritime unmanned systems.

关 键 词：集群 海上无人系统 跨域 协同控制 组网传输 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]