水上无人系统研究进展及其面临的挑战

张卫东; 刘笑成; 韩鹏

doi:10.16383/j.aas.c190363

水上无人系统研究进展及其面临的挑战

doi: 10.16383/j.aas.c190363

1. 上海交通大学自动化系上海 200240

基金项目: 国家重点研发计划(2017YFE0128500)资助

详细信息

作者简介:
张卫东：上海交通大学自动化系教授, 国家杰出青年科学基金获得者, 德国洪堡学者, 上海市优秀学科带头人, 现任上海高校船舶自动化工程研究中心主任. 曾荣获IEEE CCTA最佳论文奖和IET CTA优秀论文奖. 研究方向为海洋机器人和工业控制. 本文通信作者.E-mail: wdzhang@sjtu.edu.cn

刘笑成：上海交通大学自动化系博士研究生. 2016年获得上海交通大学硕士学位. 主要研究方向为船舶动力定位系统, 轨迹跟踪与避碰.E-mail: liuxc@sjtu.edu.cn

韩鹏：上海交通大学自动化系博士研究生. 2019年获得四川大学学士学位. 主要研究方向为无人机、无人艇协同控制.E-mail: han_ipac@sjtu.edu.cn

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出版历程
- 收稿日期: 2019-05-13
- 录用日期: 2020-03-25
- 网络出版日期: 2020-06-01
- 刊出日期: 2020-06-01

Progress and Challenges of Overwater Unmanned Systems

1. Department of Automation, Shanghai Jiao Tong University, Shanghai 200240

Funds: Supported by National Key Research and Development Program of China (2017YFE0128500)

摘要

摘要: 水上无人系统主要包括无人艇和无人机, 是未来执行水上救援、搜救和监测等任务的主要手段. 本文综述了近年来国内外在水上无人系统方面的最新研究进展, 包括企业界和学术界在无人艇和无人机方面的探索和实践, 介绍了水上无人系统研究在环境感知、航迹规划、避障和同质/异质自主体编队协同和海上弱小目标识别方面的研究成果, 分析讨论了不同方向的研究特点和面临的挑战.
- 无人艇 /
- 无人机 /
- 环境感知 /
- 航迹规划 /
- 编队协同
Abstract: The overwater unmanned system includes the unmanned surface vehicle (USV) and the unmanned aerial vehicle (UAV), which are the main means to carry out the overwater tasks such as search, rescue, and monitoring in the future. In this paper, the latest research progress about overwater unmanned systems is reviewed, including the exploration and practice of industry and academia about USV and UAV. The research achievements in the field of environmental perception, trajectory planning, obstacle avoidance, the coordination of homogeneous/heterogeneous autonomous agents, and weak small target recognition are introduced and analyzed. The problems and challenges in different directions are discussed.
- USV /
- UAV /
- environmental perception /
- track planning /
- formation coordination

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