基于USV与AUV异构平台协同海洋探测系统研究综述

doi:10.7523/j.issn.2095-6134.2021.02.001

摘要/Abstract

摘要： 对基于无人水面艇（USV）和多自主水下机器人（AUVs）组成的异构协同海洋探测系统进行综述。首先介绍不同的USV与多AUVs组成的异构海洋探测系统的最新进展和应用成果，从系统设计概念和技术特点对这些异构系统进行分析和比较；其次对多水下机器人异构系统研究中的协同关键技术进行综述，重点分析协同问题中异构协同、系统任务分配、路径规划和编队控制等问题；而后从环境和硬件的外界约束以及海洋探测系统辅助技术两个方面分析海洋探测系统所面临的技术难点与问题；最后通过分析当前取得的进展和实际需求对多水下机器人异构海洋探测系统的发展前景进行展望。

关键词: 自主水下机器人, 无人水面艇, 协同作业, 海洋探测系统, 异构平台

Abstract: With sufficient literature retrieval and summery, this paper reviews the heterogeneous oceanographic exploration system based on the synergy of unmanned surface vehicle (USV) and multiple autonomous underwater vehicles (AUVs). Firstly, latest progress and achievements of heterogeneous oceanic exploration system are summarized and compared in terms of technical features and design ideas. In the following, research status of key technologies in coordinated control of the heterogeneous systems are elaborated. The task assignment, path planning and formation control are discussed in detail. Then the paper analyzes the technical problems of the exploration system from the aspects of external constraints from environment and hardware and the auxiliary technology of ocean exploration system. Finally, the future vision for the oceanographic exploration system is prospected based on the analysis of the current progress and actual requirements.

Key words: autonomous underwater vehicle (AUV), unmanned surface vehicle (USV), synergy, oceanographic exploration system, heterogeneous platform

中图分类号:

P751

徐会希, 姜成林. 基于USV与AUV异构平台协同海洋探测系统研究综述[J]. 中国科学院大学学报, 2021, 38(2): 145-159.

XU Huixi, JIANG Chenglin. Heterogeneous oceanographic exploration system based on USV and AUV:a survey of developments and challenges[J]. Journal of University of Chinese Academy of Sciences, 2021, 38(2): 145-159.

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