水下微小无人机集群发展综述

Review of Small-size Underwater Drones Swarm Development

摘要:

水下微小无人机集群具有体积小、功耗低、集群智慧等特点，可广泛应用于船舶故障排查、水下防恐安全检查、海底采矿、海底通讯中继等领域。CoCoRo，M-AUEs，SmarmDiver 等典型水下微小无人机集群成功实现了海洋生物行为模拟、海洋生态环境监控、水底搜索等功能。水下微小无人机集群在多传感器搭载及数据融合、水下通讯、定位、集群控制等技术上还需进一步完善，我国应加强在该领域的研究开发。

Abstract:

Small-size underwater drones swarm has the characteristics of small volume ， low power consumption，swarm intelligence，etc，and can be used in ship troubleshooting，undersea security inspection，seabed mining and communication relay. Typical small-size underwater drones swarms，such as CoCoRo，M-AUEs and SmarmDiver have been used to mimic marine organism behavior，monitor marine environment or implement underwater searching. The technologies of multi-sensor carrying，data fusion，underwater communication， localization and swarm control of small-size underwater drones swarm should be improved further，and hence we should strengthen research and development in this domain.