摘要
综述了国内外自主水下航行器(AUV)在光学和声学2种不同通信定位方式下的编队智能控制方法。首先,归纳了AUV编队的基础模型,这些模型是考虑通信定位约束时智能控制方法设计的基础。其次,针对光学与声学2种通信定位方式,归纳了考虑通信定位约束时的技术难点和智能控制方法,并对研究成果进行了总结。最后,对AUV编队智能控制的发展趋势进行了分析和探讨。可为AUV编队智能控制方法的设计提供参考,对AUV编队的理论研究和工程化应用具有借鉴意义。
The formation of intelligent control methods for autonomous undersea vehicles(AUVs)under two different communication and positioning methods of optics and acoustics are reviewed.First,the fundamental models of AUV formations,which are the basis for the design of intelligent control methods when considering communication and positioning constraints,are summarized.Second,the technical difficulties and intelligent control methods considering the communication and positioning constraints along with the research results are summarized for the optical and acoustic communication and positioning methods.Finally,the development trend of AUV formation intelligent control is analyzed and discussed.The findings presented in this paper can provide a reference for the design of AUV formation intelligent control methods and has reference significance for the theoretical research and engineering application of AUV formation.
作者
俞建成
陈阔
张进
YU Jian-cheng;CHEN Kuo;ZHANG Jin(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China)
出处
《水下无人系统学报》
2023年第1期30-37,共8页
Journal of Unmanned Undersea Systems
基金
国家自然科学基金资助(62273340,51909257)
辽宁省自然科学基金资助(2021-MS-031).
关键词
自主水下航行器
智能控制方法
光学通信定位
声学通信定位
autonomous undersea vehicle
intelligent control method
optical communication and positioning
acoustic communication and positioning
