AUV智能集群协同任务研究进展

Progress of AUV Intelligent Swarm Collaborative Task

随着智能集群技术的发展和日渐成熟,自主水下航行器(AUV)以集群的形式互相协作执行任务成为了未来水下任务发展的必然趋势。由于水下环境的特殊性,水下多航行器集群协同任务面临巨大挑战。论文概述了国内外AUV智能集群协同任务的相关研究进展。从集群围捕、路径规划、编队控制等角度,系统性阐述了AUV智能集群多种任务及其关键技术的国内外发展现状,同时介绍了作者团队近年来开展AUV集群协同围捕和水下多路径规划等研究工作。通过对现有研究成果的总结与分析,为探索和规划水下多航行器集群协同任务的发展方向提供了参考。

With developments in the intelligent swarm technology,the cooperation of autonomous undersea vehicle(AUV)swarms in performing underwater tasks has become an inevitable trend for the future development of such tasks.However,owing to the particularity of underwater environments,collaborative tasks of underwater multi-vehicle swarms encountermajor challenges.This paper provides an overview of the research progress on AUV swarms.From the perspective ofcooperative hunting,path planning,formation control,and so on,multiple tasks and key technologies of intelligent swarmsdeveloped worldwide are introduced,and some recent results obtained by the authors based on cooperative hunting and multipath underwater planning tasks are summarized.Additionally,through a review and analysis of existing research results,somereferences for the future development of underwater multi-vehicle swarm tasks are provided.