多自主水面航行器协同编队控制研究现状与进展

Research Status and Progress in Cooperative Formation of Multiple Autonomous Surface Vehicles

自主水面航行器(autonomous surface vehicle,ASV)的协同编队是协同领域中重点研究方向,协同编队的发展对人类社会具有重要意义.本文针对多ASV协同编队,对该领域相关问题的研究进展进行了综述,包括:1)论述了多ASV协同编队研究现状,包括协同编队定义、难点及讨论; 2)分析了多ASV协同编队主要策略及相关研究进展,包括协同跟随策略、领航与跟随策略; 3)对协同编队网络下的干扰约束及解决方法的研究进展进行了综述,包括洋流干扰及通信约束; 4)从最优角度出发,对编队中路径规划问题进行了总结分析; 5)从安全角度出发,分析了编队中避碰问题的研究进展; 6)陈述了多ASV协同编队存在的问题,并给出了未来研究方向.

The cooperative formation of autonomous surface vehicles （ASVs） is an important research direction in the field of cooperation. In this paper, we summarize the topic and development of ASV cooperative formation research. First, we describe and discuss the research status of the multiple ASV cooperation formation, including the definition of cooperative formation and its challenges. Next, we analyze the main strategies and related research progress of muhiple ASV cooperative formation, including the cooperative following and leaderfollower strategies. Third, we discuss developments in disturbance constraints and solutions for the cooperative formation network, including ocean disturbance and communication constraints. Fourth, we summarize and analyze the path planning problem in the formation process, with a focus on optimization. Fifth, with respect to security, we summarize the problem of collision avoidance in the process of formation control. Lastly, we describe key problems and future research directions in multi-ASV cooperative formation.