无人水面艇研究现状与发展趋势
第25卷第5期2019年10月
（自然科学版）
JOURNAL OF SHANGHAI UNIVERSITY(NATURAL SCIENCE)
Vol.25No.5
Oct.2019
DOI:10.12066/j.issn.1007-2861.2041开放科学(资源服务)标识码(OSID):
无人水面艇研究现状与发展趋势
彭艳,葛磊,李小毛,钟雨轩,张鑫
(上海大学机电工程与自动化学院,上海200444)
摘要:无人水面艇(unmanned surface vehicle,USV)是一种在水面进行自主航行的运载平
台,属于海洋机器人的一个重要分支,在军用和民用领域均有广泛的应用前景.由于海洋环境
恶劣,以及无人水面艇运动模型非常特殊(如模型高度非线性、强时滞性和时变性等),使得较
于无人车和无人机等其他无人系统,无人水面艇的研究面临着特殊的挑战.从态势感知、航行
规划和导航、控制这3个方面总结了无人水面艇的研究现状和主要成果,得出了无人水面艇在
国内外不同的发展现状和趋势.最后还对无人水面艇的应用需求进行了分析与展望.
关键词:无人水面艇;海洋机器人;发展趋势
中图分类号:TP242.6文献标志码:A文章编号:1007-2861(2019)05-0645-10 Research status and development trend of
unmanned surface vehicle
PENG Yan,GE Lei,LI Xiaomao,ZHONG Yuxuan,ZHANG Xin (School of Mechatronic Engineering and Automation,Shanghai University,Shanghai200444,China) Abstract:Unmanned surface vehicle(USV),as an important branch of marine robotics,
is a vehicle that operates on the surface of the water automatically,and it can be used
for a wide range of military and civil https://www.wendangku.net/doc/657850573.html,pared to other unmanned systems
like unmanned aerial vehicle,unmanned ground vehicle and etc.,research on USV is more
challenging because of the harsh ocean environment and the special motion model of USV,
such as high nonlinearity,strong time delay and time varying.This paper summarizes the
research status and main achievements of unmanned ships from the aspects of situation
awareness,path planning and guidance,and control,and it also describes at some length
di?erent development trends of unmanned ships at home and abroad.Finally,forecast on
the development and application of unmanned ships in the future is made.
Key words:unmanned surface vehicle(USV);marine robotics;development trend
无人水面艇(unmanned surface vehicle,USV)是指依靠船载传感器,以自主或半自主方式在水面航行的智能化平台,可广泛应用于海洋运输、海洋环境调查、海洋资源探测、海洋考古、水上搜救、情报搜集、海事训练测试、侦察取证、警戒巡逻、火力打击、舰艇护航、反水雷和反潜等任务.无人水面艇是网络化无人系统中的重要节点,将颠覆传统海战样式,催生全新海收稿日期:2017-10-14
基金项目:国家自然科学基金资助项目(61403245,51675318,61673254);上海市科委地方院校能力建设资助项目(14500500400)
通信作者:李小毛(1981—),男,研究员,研究方向为图像处理、无人艇环境感知、导航和控制及其总体技术.
E-mail:lixiaomao@https://www.wendangku.net/doc/657850573.html,