多AUV集群控制技术综述

Overview of Multi-AUV Cluster Control Technology

摘要:

多 AUV 集群控制是指通过多 AUV 相互协调完成特定的作战任务，需要解决的具体问题包括协同编队、协同导航、任务分配、通讯机制、协同定位、避碰和避障等。多 AUV 集群控制技术注重系统的冗余性和时效性，系统对个体的失效具有鲁棒性。系统性地阐述了集群控制技术的理论研究现状，探讨了多 AUV 集群控制需要解决的关键技术问题，对比了目前各类先进集群控制算法的优缺点，最后结合理论研究和 AUV 集群控制技术发展现状对集群控制技术发展进行了展望。

Abstract:

Multi-AUV cluster control technology means that multiple AUV systems cooperate with each other to complete specific task. This technology solves the problems of system cooperative formation，cooperative navigation，task allocation，communication mechanism，collaborative positioning，collision avoidance and obstacle avoidance. This technology lays emphasis on redundancy and timeliness of the system，and the system is robust to individual failure. This paper systematically describes the development status of multi-AUV cluster control technology. The key technical problems of multi-AUV cluster control are discussed，and the advantages and disadvantages of various advanced cluster control algorithms are compared. In conclusion，the development direction of the intelligent cluster control technology is prospected based on the theoretical research and the current situation of multi-AUV cluster control technology.