Development Status and Key Techniques for Cross-domain Swarm of Maritime Unmanned Systems
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摘要: 随着无人系统技术的快速发展, 海上无人系统跨域集群凭借其诸多优点已成为当前无人系统领域研究热点. 具体来说, 海上无人系统跨域集群是指空中、水面、水下无人平台, 通过跨域任务规划与信息交互实现高效集群协作, 对提升复杂海洋环境下无人平台应对能力至关重要. 目前, 海上无人系统跨域集群理论体系还不完善, 相关研究正面临诸多亟待解决的难题. 为此, 首先梳理跨域集群相关概念及其发展现状, 分析其面临的挑战与关键问题; 进而, 从控制理论和通信技术相结合的角度出发, 简述跨域集群任务规划、组网传输、协同控制等关键技术的研究进展; 最后, 结合实际发展情况和未来发展趋势, 对海上无人系统跨域集群未来值得深入研究的方向进行总结与展望.Abstract: With the rapid development of unmanned system technology, the cross-domain swarm of maritime unmanned systems has become a hot research topic in the field of unmanned systems due to its many advantages. Specifically, the cross-domain swarm of maritime unmanned systems refers to the efficient swarm collaboration of air, water surface and underwater unmanned platforms, by means of the cross-domain task planning and information exchange. It is of great significance to enhance the response capability of unmanned platforms in complex marine environments. At present, the theoretical framework of cross-domain swarm for maritime unmanned systems is not mature. The relevant researches are facing many urgent problems to be solved. For that reason, this paper firstly outlines the concepts and development status of cross-domain swarm, through which the challenges and key issues are analyzed. And then, from the perspective of combining control theory and communication technology, we briefly describe the research progress of key technologies, such as the task planning, network transmission, and collaborative control in cross-domain swarm. Finally, based on the actual development situation and future trends, we summarize and look forward to the future research directions worthy of in-depth study on cross-domain swarm of maritime unmanned systems.
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Key words:
- Swarm /
- maritime unmanned systems /
- cross-domain /
- collaboration control /
- network transmission
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图 1 面向水下移动目标围捕任务的跨域集群系统
Fig. 1 Cross-domain swarm system for the encirclement of underwater mobile target
图 2 美国国防部无人系统发展路线图封面
Fig. 2 Covers of the unmanned systems development roadmap for US Department of Defense
图 5 无中继的跨介质通信示意图
Fig. 5 Schematic diagram of the cross-domain communication without the relay nodes
图 6 基于磁感线通信的跨介质数据传输
Fig. 6 Cross-domain data transmission based on the magnetic induction line communication
图 7 基于6G技术的“空天地海”一体化跨域中继传输网络
Fig. 7 Air-space-ground-sea integration cross-domain relay transmission network based on 6G technology
表 1 跨域集群相关的综述论文对比
Table 1 Comparison of the survey papers related to the cross-domain swarm
文献 题目 研究出发层面 主要内容 存在不足 [2] 水下无人系统发展现状及其关键技术 海洋装备 分析集群化的概念, 简述了国内外水下无人装备发展现状, 指出需突破的技术 主要偏重水下单域集群落脚于海洋装备领域 [3] 海上无人系统发展及关键技术研究 海洋装备 从战略规划、装备研发和系统演示等层面分析现状, 凝练挑战与需攻克的技术 偏重战略规划, 并没有对具体技术进行分析归纳 [4] 无人直升机空海潜跨域协同作战体系构建与应用 海洋装备 对无人机空海潜协同作战体系进行综述, 分析了多种无人海洋装备互联互通技术 偏重跨域体系建立与应用介绍, 并没有对其耦合关系进行剖析 [5] Survey of air, sea, and road vehicles research for motion control security 感知 从安全角度对空天地机器人态势感知进行了综述 偏重单体态势感知, 未对跨域集群展开讨论 [6] 水下无人系统集群感知与协同技术进展 感知 从感知与协同层面对水下感知与协同技术进行综述, 并指出集群面临的难点 偏重单域内无人系统的集群, 并没有对跨域集群进行综述 [7] A survey on space-air-ground-sea integrated network security in 6G 通信 从安全角度对空天地海通信进行综述, 并讨论跨层攻击 偏重空天地跨域通信研究, 并未对跨域集群展开论述 [8] 水声通信及网络技术综述 通信 对水声通信路由与跨层设计等进展进行综述, 对未来水声通信技术进行展望 偏重单域内无人系统的通信, 未对跨域感知与控制进行综述 [9] 水域无人系统平台自主航行及协同控制研究进展 控制 综述水域无人平台航行与控制进展, 分析其面临的机遇与挑战 缺少对跨域集群组网综述, 并没有对集群过程中的关系进行剖析 [10] Review of hybrid aerial underwater vehicle: Cross-domain mobility and transitions control 控制 综述跨域混合动力飞行器研究进展, 分析了水动力对控制的影响 主要对单个装备跨域进行机理分析, 并没有对跨域集群进行综述 [11] 天空地一体化网络环境下多运动体系统跨域协同控制与智能决策 控制 综述天地空跨域决策与控制, 阐述云控制在其中的作用 主要考虑陆地环境中的跨域, 并没有将水下环境加入跨域体系 
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