国内外海洋经济发展经验与趋势分析

水下滑翔机（UG）是一种新型的水下无人航行器，具有能耗低、效率高、续航力长、成本低、可重复使用等优点，能够满足长时序、大范围的海洋观测与探测需求。水下滑翔机作为一种观测探测平台，合理的路径规划是其执行海洋观测与探测任务的重要保障。首先，综述近年来有关水下滑翔机路径规划方法，将水下滑翔机路径规划算法的内容系统性地分为传统算法、智能优化算法和多算法融合3类，并结合实际应用场景对不同的路径规划算法性能进行比较；然后，对水下滑翔机路径规划过程中所涉及到的环境重构技术、环境感知技术、智能决策技术和水下定位技术等关键技术进行凝练与总结；最后，基于现有的发展趋势，对水下滑翔机路径规划未来的发展方向，如多算法共融规划、多机协同路径规划、融合时空和目的约束的多维空间路径规划和复杂非稳态环境下的精准路径规划等进行展望。

Analysis on the development experience and trend of marine economy at home and abroad

The underwater glider (UG) is a new type of underwater vehicle driven by buoyancy, which has the advantages of low energy consumption, high efficiency, long-endurance, low cost, reusability and so on. The UG can also meet the needs of long-term and large-scale ocean observation and exploration. As an observation platform, the UG needs to carry out path planning and correction continuously in the early stages and during missions in order to better serve the requirements of ocean observation and exploration. First, this paper summarizes the relevant literatures on path planning research methods for UG in recent years. UG path planning algorithms are mainly divided into three categories: traditional algorithms, intelligent optimization algorithms and multi-algorithm fusions. Combined with practical application, the performance of different path planning algorithms is compared. The key technologies of UG path planning, such as environment reconstruction, environment perception, intelligent decision-making and underwater positioning, are then summarized. Finally, the development direction of UG multi-algorithm integration, multi-glider cooperation, multi-dimensional integration of spatiotemporal constraints and high-precision in complex and unsteady environments are prospected.