| 海洋空间智能无人运载器技术发展展望 |
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| 引用本文： | 彭周华, 吴文涛, 王丹, 等. 多无人艇集群协同控制研究进展与未来趋势[J]. 中国舰船研究, 2021, 16(1): 51–64, 82. doi: 10.19693/j.issn.1673-3185.01923 |
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| 作者姓名： | 彭周华 吴文涛 王丹 刘陆 |
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| 作者单位： | 1.大连海事大学 船舶电气工程学院，辽宁 大连 116026 |
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| 基金项目： | 国家自然科学基金资助项目（61673081, 51979020, 51909021, 51939001）；水下机器人重点实验室稳定支持基金资助项目（JCKYS2019604SXJQR-01） |
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| 摘 要： | 当前，海洋航行器呈现智能化、网络化、集群化等重要发展趋势，多无人艇通过协同实现集群化作业，是未来海洋作业的主要形式之一。从无人艇运动数学模型出发，分析了多无人艇集群控制所面临的问题和挑战，根据多无人艇运动不同的场景，从轨迹导引、路径导引、目标导引3个方面综述了多无人艇集群协同控制的研究进展。最后，对多无人艇协同控制的研究方向和未来趋势进行了总结和展望。
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| 关 键 词： | 多无人艇 编队控制 协同控制 集群控制 |
| 收稿时间： | 2020-04-10 |
| 修稿时间： | 2020-08-01 |
An overview of recent advances in coordinated control of multiple autonomous surface vehicles |
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| PENG Z H, WU W T, WANG D, et al. Coordinated control of multiple unmanned surface vehicles: recent advances and future trends[J]. Chinese Journal of Ship Research, 2021, 16(1): 51–64, 82. doi: 10.19693/j.issn.1673-3185.01923 |
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| Authors: | PENG Zhouhua WU Wentao WANG Dan LIU Lu |
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| Affiliation: | 1.Marine Electrical Engineering College, Dalian Maritime University, Dalian 116026, China |
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| Abstract: | The future trends of marine operations will be intelligent, networked and swarmed marine vehicles. One of the main trends of future marine operations will be joint operations through the coordination of multiple unmanned surface vehicles (USVs). As an introduction to the mathematical model of USVs, this paper presents the key problems and fundamental challenges of motion controlling multiple USVs. Regarding different mission scenarios of USVs, the existing results will be classified into trajectory-guided, path-guided, and target-guided coordinated control. In conclusion, we discussed and summarized the future trends of the coordinated control of multiple USVs. |
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| Keywords: | multiple autonomous surface vehicles formation control coordinated control flocking control |
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