[1]徐玉如,庞永杰,甘 永,等.智能水下机器人技术展望[J].智能系统学报,2006,(01):9-16.
 XU Yu-ru,PANG Yong-jie,GAN Yong,et al.AUV—state-of-the-art and prospect[J].CAAI Transactions on Intelligent Systems,2006,(01):9-16.
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
期数:
2006年01期
页码:
9-16
栏目:
出版日期:
2006-03-25

文章信息/Info

Title:
AUV—state-of-the-art and prospect
文章编号:
1673-4785(2006)01-0009-08
作者:
徐玉如庞永杰甘   永孙玉山
哈尔滨工程大学水下机器人技术国家重点实验室,黑龙江哈尔滨150001
Author(s):
XU Yu-ru PANG Yong-jieGAN Yong SUN Yu-shan
State Key Laboratory of Underwater Vehicle Technology,Harbin 150001,China
关键词:
水下机器人人工智能体系结构智能控制
Keywords:
autonomous underwater vehicle artificial intelligence system architecture intelligent control
分类号:
TP24
文献标志码:
A
摘要:
智能水下机器人作为一个复杂的系统,集成了人工智能、水下目标的探测和识别、数据融合、智能控制以及导航和通信各子系统,是一个可以在复杂海洋环境中执行各种军用和民用任务的智能化无人平台.由于水下机器人在海事研究和海洋开发中具有远大前景,在未来水下信息获取、精确打击和“非对称情报战”中也有广泛应用,因此水下机器人技术在世界各个国家中都是一个重要和积极的研发领域.基于实践和在相关技术难题上的经验,对智能水下机器人的发展现状和前景进行了描述,对这些问题可能的解决方案提出了建设性的意见.这些相关的技术包括:水下机器人载体设计技术、体系结构、基础运动控制技术、智能规划与决策技术、系统仿真技术、水下目标探测与识别技术、系统可靠性与容错技术等.随着科学技术的发展,人工智能技术将会在智能水下机器人上得到更为广泛的应用.然而水下机器人技术仍然处于基础研究和试验开发阶段,距离全面应用还有很长的路要走.
Abstract:
Autonomous underwater vehicle(AUV), as a sophist icated system integration of artificial intelligence, underwater target detectio n and identification, data fusion, intelligent control, communication and naviga tion sub-systems, is an unmanned platform to carry out various civil and military missions in com plex ocean environments. Owing to the expectation that AUV will be very promising in maritime research and ocean development and it also may find its way of application in the future underwater conflict for intelligence acquisition, accurate attack and “asymmetric intelligent acupunctural warfare”, AUV tech is an important and active field of R&D,especially in the big powers of the world. State-of-the-art and main trend of development are presented based on our own (domestic) practice and experiences in related technical problems and suggestive proposals for probable way of solution to the problems are offered. The related areas are as follows: vehicle(carrier/platform) design, architecture, control, intelligent planning and decision making, AUV simulation and virtual reality, underwater target detection and identification, reliability and fault-tolerant techniques, etc. With the development of science and artificial intelligence, we’ll see encouraging results in many enabling techniques for AUV. However, AUV technology is still in its stage of basic research, test and development, and there is still a long way to go for its full availability.

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备注/Memo

备注/Memo:
收稿日期:2006-02-27.
基金项目:国家自然科学基金资助项目(50579007).
作者简介:
徐玉如,男,1942年生,教授,中国工程院院士,哈尔滨工程大学国家重点学科“船舶与海洋结构物设计制造”的学科带头人、博士生导师.主持完成了多项具有开拓性的工程研究项目.在发展我国水下智能机器人技术方面做出了突出贡献.获国家级科技进步奖 2项,省部级科技进步奖一等奖4项,二、三等奖6项,光华科技基金奖1项,发表学术论文40 余篇.
庞永杰,男,1955年生,教授,博士生导师,海洋工程学会理事.主要从事潜水器及深海资源开发系统设计研究,参与了多项科研项目,在水下机器人总体设计和系统仿真等方面贡献突出,获国家级科技进步二等奖1项,部级科技进步一等奖2项,二、三等奖各1项,发表论文30余篇.
甘     永,男,1982年生,哈尔滨工程大学在读博士研究生.主要从事水下机器人基础运动控制、人工智能方向的研究.
更新日期/Last Update: 2009-04-07