中国科学院大学学报2021，Vol.38Issue(2)：145-159,15.DOI:10.7523/j.issn.2095-6134.2021.02.001
基于USV与AUV异构平台协同海洋探测系统研究综述
Heterogeneous oceanographic exploration system based on USV and AUV:a survey of developments and challenges
摘要
Abstract
With sufficient literature retrieval and summery,this paper reviews the heterogeneous oceanographic exploration system based on the synergy of unmanned surface vehicle (USV) and multiple autonomous underwater vehicles (AUVs).Firstly,latest progress and achievements of heterogeneous oceanic exploration system are summarized and compared in terms of technical features and design ideas.In the following,research status of key technologies in coordinated control of the heterogeneous systems are elaborated.The task assignment,path planning and formation control are discussed in detail.Then the paper analyzes the technical problems of the exploration system from the aspects of external constraints from environment and hardware and the auxiliary technology of ocean exploration system.Finally,the future vision for the oceanographic exploration system is prospected based on the analysis of the current progress and actual requirements.关键词
自主水下机器人/无人水面艇/协同作业/海洋探测系统/异构平台Key words
autonomous underwater vehicle (AUV)/unmanned surface vehicle (USV)/synergy/oceanographic exploration system/heterogeneous platform分类
海洋科学引用本文复制引用
徐会希,姜成林..基于USV与AUV异构平台协同海洋探测系统研究综述[J].中国科学院大学学报,2021,38(2):145-159,15.基金项目
Support by National Key Research and Development Program of China (2017TYC0306800) （2017TYC0306800）
