水面无人艇研究现状

Review on Recent Developments of Unmanned Marine Surface Vessels

智能无人系统具有运行效率高、可靠、低成本的特点,面对紧急救援、敌情侦察等危险场景,无人系统往往更具优势。近年来用于科研与军事的无人艇平台陆续出现。这类平台一般都具备环境感知、智能决策与通信的基本功能。如有特定作战需求,则还可搭载传感或武器装备。本文根据现有典型无人艇平台,总结无人艇系统的基本软硬件架构,包括传感、决策、通信等模块。然后,针对决策模块中的数据处理、路径规划与控制对现有技术进行回顾,并基于此提出一种能有效处理系统约束条件、实现一定系统性能优化的无人艇预测控制方法。最后,对未来战场上无人艇在海、陆、空敌情发现/作战中扮演的角色与功能需求做简要展望。

Intelligent unmanned systems have characteristics such as high operational efficiency,high reliability and low cost.Particularly in critical situations,e.g.,personnel rescue and military reconnaissance,unmanned systems prevail over manned system.Recently,unmanned surface vessels(USVs)have become popular in both academia and military.Like common unmanned systems,USVs have fundamental functionalities of environment sensing,intelligent decision making and communication.Specific sensors or devices could also be equipped on board for different purpose.Based on typical USV platforms,we first introduce basic modules of a USV.Then,we focus on data process,path planning and motion control in the decision module.We present a predictive motion control approach that can handle system constraints and achieve certain optimality for USVs.Roles and functional demands of USVs in the future ocean-land-air applications are anticipated.