水上无人系统研究进展及其面临的挑战

Progress and Challenges of Overwater Unmanned Systems

水上无人系统主要包括无人艇和无人机,是未来执行水上救援、搜救和监测等任务的主要手段.本文综述了近年来国内外在水上无人系统方面的最新研究进展,包括企业界和学术界在无人艇和无人机方面的探索和实践,介绍了水上无人系统研究在环境感知、航迹规划、避障和同质/异质自主体编队协同和海上弱小目标识别方面的研究成果,分析讨论了不同方向的研究特点和面临的挑战.

The overwater unmanned system includes the unmanned surface vehicle(USV)and the unmanned aerial vehicle(UAV),which are the main means to carry out the overwater tasks such as search,rescue,and monitoring in the future.In this paper,the latest research progress about overwater unmanned systems is reviewed,including the exploration and practice of industry and academia about USV and UAV.The research achievements in the field of environmental perception,trajectory planning,obstacle avoidance,the coordination of homogeneous/heterogeneous autonomous agents,and weak small target recognition are introduced and analyzed.The problems and challenges in different directions are discussed.