摘要
当前,无人水下航行器(UUV)的发展日益受到任务环境及发展需求的挑战,单体UUV的载荷以及任务指向的局限性越发凸显,集群编队控制已然成为重要发展方向。针对UUV集群编队控制系统梳理了国内外应用成果以及技术研究现状,重点总结了常用的队形控制算法,其中涵盖人工势场法、领航者-跟随者法、基于行为法、虚拟结构法、强化学习法。最后对UUV编队控制研究现状做出总结与展望,以期为日后UUV集群技术的发展提供参考与思路。
At present,the development of unmanned underwater vehicles(UUV)is increasingly challenged by the mission environment and development needs. The limitations of the load and mission orientation of the single UUV have become more prominent,and the cluster formation control has become an important development direction. For the UUV cluster formation control system,the domestic and foreign application results and technical research status are sorted out,and the commonly used formation control algorithms are summarized especially,including artificial potential field method,leader-follower method,behavior-based method,virtual structure method,and enhanced learning method. Finally,it summarizes and looks forward to the research status of UUV formation control,hoping to provide reference and ideas for the development of UUV cluster technology in the future.
作者
杨洋
王征
胡致远
尹洋
YANG Yang;WANG Zheng;HU Zhiyuan;YIN Yang(School of Electrical Engineering,Naval University of Engineering,Wuhan 430033)
出处
《舰船电子工程》
2022年第2期1-7,94,共8页
Ship Electronic Engineering
基金
国家自然科学基金项目(编号:42122025)
湖北省杰出青年科学基金项目(编号:2019CFA086)资助。
关键词
无人水下航行器
编队控制
人工势场法
领航者-跟随者法
强化学习
unmanned underwater vehicle
formation control
artificial potential field method
leader-follower method
reinforcement learning
