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Heterogeneous oceanographic exploration system based on USV and AUV:a survey of developments and challenges
Alternative Title基于USV 与AUV 异构平台协同海洋探测系统研究综述
Xu HX(徐会希)1,2; Jiang CL(姜成林)1,2,3
Department水下机器人研究室
Source Publication中国科学院大学学报
ISSN2095-6134
2021
Volume38Issue:2Pages:145-159
Contribution Rank1
Funding OrganizationNational Key Research and Development Program of China (2017TYC0306800)
Keywordautonomous underwater vehicle (AUV) unmanned surface vehicle (USV) synergy oceanographic exploration system heterogeneous platform
Abstract

With sufficient literature retrieval and summery, this paper reviews the heterogeneous oceanographic exploration system based on the synergy of unmanned surface vehicle (USV) and multiple autonomous underwater vehicles (AUVs). Firstly, latest progress and achievements of heterogeneous oceanic exploration system are summarized and compared in terms of technical features and design ideas. In the following, research status of key technologies in coordinated control of the heterogeneous systems are elaborated. The task assignment, path planning and formation control are discussed in detail. Then the paper analyzes the technical problems of the exploration system from the aspects of external constraints from environment and hardware and the auxiliary technology of ocean exploration system. Finally, the future vision for the oceanographic exploration system is prospected based on the analysis of the current progress and actual requirements.

Other Abstract

对基于无人水面艇(USV)和多自主水下机器人(AUVs) 组成的异构协同海洋探测系统进行综述。首先介绍不同的USV 与多AUVs 组成的异构海洋探测系统的最新进展和应用成果,从系统设计概念和技术特点对这些异构系统进行分析和比较;其次对多水下机器人异构系统研究中的协同关键技术进行综述,重点分析协同问题中异构协同、系统任务分配、路径规划和编队控制等问题;而后从环境和硬件的外界约束以及海洋探测系统辅助技术两个方面分析海洋探测系统所面临的技术难点与问题;最后通过分析当前取得的进展和实际需求对多水下机器人异构海洋探测系统的发展前景进行展望。

Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/28628
Collection水下机器人研究室
Corresponding AuthorXu HX(徐会希)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Xu HX,Jiang CL. Heterogeneous oceanographic exploration system based on USV and AUV:a survey of developments and challenges[J]. 中国科学院大学学报,2021,38(2):145-159.
APA Xu HX,&Jiang CL.(2021).Heterogeneous oceanographic exploration system based on USV and AUV:a survey of developments and challenges.中国科学院大学学报,38(2),145-159.
MLA Xu HX,et al."Heterogeneous oceanographic exploration system based on USV and AUV:a survey of developments and challenges".中国科学院大学学报 38.2(2021):145-159.
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