海洋无人航行器异构编队控制技术：现状、挑战与展望

doi:10.12305/j.issn.1001-506X.2026.01.28

摘要/Abstract

摘要：

海洋无人航行器异构编队是未来海战场中关键的协同作战方式。本文综述了海洋无人航行器（unmanned marine vehicle，UMV）异构编队的概念、分类及其技术发展现状，从控制架构、控制理论和通信等方面剖析了UMV异构编队控制关键技术的研究进展和面临的主要挑战，并从基于数据驱动的智能控制、面向通信约束的组合通信与控制、构建互操作架构和智能容错控制等四方面展望了未来发展方向。

关键词: 海洋无人航行器, 异构编队, 控制策略, 通信约束

Abstract:

Heterogeneous formation of unmanned marine vehicles （UMVs） is a key cooperative operation mode in the future sea battlefield. In this paper, the concept and classification of heterogeneous formation of UMV and its current technological development are summarized, the research progress and main challenges of key technologies of UMV heterogeneous formation control from the aspects of control architectures, control theories, and communications are analyzed, and the future development direction is discussed from the aspects of intelligent control based on data-driven, communication constraints oriented combination of communication and control, building interoperability architecture, and intelligent fault-tolerant control.

Key words: unmanned marine vehicle, heterogeneous formation, control strategy, communication constraints

中图分类号:

李文魁, 张雅雯, 徐务农, 杨裕浩, 金培森, 单晨阳. 海洋无人航行器异构编队控制技术：现状、挑战与展望[J]. 系统工程与电子技术, 2026, 48(1): 312-330.

Wenkui LI, Yawen ZHANG, Wunong XU, Yuhao YANG, Peisen JIN, Chenyang SHAN. Heterogeneous formation control technology for unmanned marine vehicles: current status, challenges and perspectives[J]. Systems Engineering and Electronics, 2026, 48(1): 312-330.

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项目名称	机构	开展时间	平台类型	项目成果
AOSN	美国海军研究院	1990—2005	REMUS、Slocum、Spray	观测近海和沿海区域内各种重要海洋特征和现象^[29]
AOSN-II	美国海军研究院	1990—2005	REMUS、Slocum、Spray	大范围、长航时异构自主海洋调查^[30]
ASAP	美国海军研究院	2006	Slocum、Spray	利用多台UG进行高效的海洋参数采样
GO-SHIP	美国国家海洋和大气管理局	2007—	Slocum、Spray、Seaglider、AUV	实施定期重复的高分辨率海洋观测，以提供持续、基准级高质量的海洋数据
OOI	美国国家科学基金会	2013—	Slocum、REMUS-600	建立了全球最大海洋观测网络
Ocean of Energy	荷兰海洋能源研究所	2020—	Slocum、Seaglider	实现海洋环境监测和能量采集开发

项目名称	机构	开展时间	平台类型	项目成果
CADRE	Bluefin公司	2006	AUV、USV	验证并实现美海军UUV总规划中提出的水下搜索与调查、辅助通信/导航能力^[42]
Unmanned Warrior	英国海军	2016	UAV、USV、UUV	完成了编队区域搜索、战场情报收集等任务^[43]
OCEAN 2020	欧盟	2018	UAV、USV、UUV	优化编队协同搜索与区域覆盖，提升了监视、探测与态势感知综合能力^[44]

平台类型	项目名称	开展时间	项目成果
Sea Hunter、Sea Hawk、MANTAS T-38 Devil Ray、 MQ-9 Sea Guardian、RQ-20 PUMA、LRUSVs、 LDUUV、ALTIUS、Spyglass、T-12 Mantas、 Switchlade 600、Gutlass	IBP21	2021.4	初步实现空-海-潜无人系统集成和跨域指挥控制架构^[59]
	IBP23.1	2023.5	验证无人平台联合火力打击能力^[60]
	IBP23.2	2023.8	验证USV在长航时任务中的自主性和盟友海军的互操作性^[61]
	IBP24.1	2024.3	实战化测试反馈技术缺陷，加快无人系统实战化部署和战斗力升级^[62]

类别	协调性	自主性	反应性	容错性	通信负载
集中式	√	×	×	×	×
分布式	×	√	√	√	×
分层式	√	√	√	√	√

策略名称	优势	局限性	研究文献
领航-跟随法	简单，可扩展性	灵活性差，领航者依赖	文献[27, 83, 91−93]
虚拟结构法	整体性强，队形保持与反馈	通信依赖，适应性有限	文献[76, 95−98]
基于行为法	去中心化，适应性强	协调难度大，稳定性差	文献[77, 100−104]
基于NNs	逼近能力强，鲁棒性好	训练复杂，参数调节困难	文献[80, 109−116]
基于RL	自学习能力强，计算力强	奖励函数设计困难，稳定性差	文献[119−123]