自动化学报2026，Vol.52Issue(2)：349-362,14.DOI:10.16383/j.aas.c250438
基于空−海−潜跨域无人平台协同的海上目标探测追踪策略
Maritime Target Detection and Tracking Strategy Based on the Collaboration of Air-Sea-Submarine Cross-domain Unmanned Platform
摘要
Abstract
This paper proposes a maritime target detection and tracking strategy based on the collaboration of air-sea-submarine cross-domain unmanned platform.Firstly,a maritime cross-domain unmanned system that integ-rates unmanned aerial vehicle(UAV),unmanned surface vessel(USV),and autonomous underwater vehicle(AUV)is constructed.Then,the optimal detection formation of UAV-USV-AUV is analyzed using measure theory to max-imize target detection probability,accounting for the high maneuverability of maritime targets and the constraints of unmanned platform;After the target is detected,an inverse reinforcement learning-based controller is designed for the formation of UAV-USV-AUV to achieve reliable and effective tracking of surface/underwater targets in obstacle-prone environments.Finally,simulations and experiments are conducted to validate the effectiveness of the proposed method.The results show that the proposed detection mode can maximize the probability of detecting mo-bile targets within a finite time,and the proposed inverse reinforcement learning formation controller can achieve secure and collaborative tracking of cross-domain unmanned platform in complex environments by combining dy-namic obstacle avoidance strategies while maintaining formation stability.关键词
探测/追踪/跨域无人平台/避障/逆强化学习Key words
detection/tracking/cross-domain unmanned platform/obstacle avoidance/inverse reinforcement learn-ing引用本文复制引用
田泽兴,闫敬,高麒媛,杨晛,关新平..基于空−海−潜跨域无人平台协同的海上目标探测追踪策略[J].自动化学报,2026,52(2):349-362,14.基金项目
国家自然科学基金(62222314,U25A20472),河北省燕赵青年科学家项目(F2024203047),河北省自然科学基金(F2022203001,F2024203072,F2025501051),河北省教育厅基金(JCZX2025027)资助Supported by National Natural Science Foundation of China(62222314,U25A20472),Yanzhao Young Scientist Project of Hebei Province(F2024203047),Natural Science Foundation of Hebei Province(F2022203001,F2024203072,F2025501051),and Education Department Foundation of Hebei Province(JCZX2025027) （62222314,U25A20472）
