农业机械学报2026，Vol.57Issue(19)：18-31,125,15.DOI:10.6041/j.issn.1000-1298.2026.19.002
自主水下机器人系统感知-决策-控制技术综述
Review of Perception-Decision-Control Technologies for Autonomous Underwater Robotic Systems
摘要
Abstract
Underwater vehicle-manipulator systems(UVMS)integrated the mobility of underwater vehicles with the dexterous manipulation capability of manipulators,thereby providing essential technological support for complex deep-sea operations such as inspection,maintenance,and intervention.A systematic review of recent research on the key technologies of UVMS was presented.Firstly,from the perspective of perception,underwater environment sensing methods,underwater image enhancement,and target detection techniques were summarized,and their application performance in complex underwater operational scenarios was analyzed.Secondly,from the decision-making perspective,obstacle avoidance,path planning,and motion trajectory planning methods were reviewed,with a discussion on the impact of task complexity and environmental uncertainty on planning and decision performance.Thirdly,from the control perspective,motion control and force interaction control methods for UVMS were examined,and the applicability of model-based,adaptive,and data-driven control strategies in underwater operations was comparatively analyzed.Finally,from the perspectives of multimodal robust perception,intelligent decision-making and task planning,and motion-force control,the future development trends of UVMS were discussed,and frontier technologies with potential application prospects were identified.关键词
水下机器人系统/环境感知/决策规划/运动及力控制Key words
underwater robotic systems/environmental perception/decision-making and planning/motion and force control分类
信息技术与安全科学引用本文复制引用
初虎波,陈首彦,刘海涛,杨洲..自主水下机器人系统感知-决策-控制技术综述[J].农业机械学报,2026,57(19):18-31,125,15.基金项目
国家自然科学基金项目(62573144)、广东省普通高校创新团队项目(2024KCXTD041)、广东省自然科学基金面上项目(2024A1515011345)、广东省普通高校重点领域专项(2023ZDZX1005)和广东海洋大学博士科研启动项目(060302062501) （62573144）
