多AUV水下协作搜索研究现状与展望

随着各国对海洋研究的不断深入，海上作业越来越频繁，作为探索海洋的重要工具，自治水下机器人（autonomous underwater vehicle，AUV）在海事搜索方面的发展也越来越受到关注。多AUV协作搜索控制作为多AUV研究的主要方向之一，在促进海洋科学与工程技术进步、海洋资源探测与开发、国家海防安全与海洋战略实施等方面有着十分重要的意义。首先，综述了近些年来多AUV协作搜索控制的国内外研究现状；然后，从AUV自身和环境的外界约束，以及海洋探测等方面，分析了多AUV水下协作搜索控制研究所面临的技术难点和存在的问题；最后，通过分析当前多AUV协作搜索控制的进展和实际需要，对多AUV协作搜索系统的发展趋势进行了探讨。

Research status and prospect of multi-autonomous underwater vehicle cooperative search control

With the deepening of ocean research in various countries, marine operations are becoming increasingly frequent. As an important tool for ocean exploration, the development of AUVs (autonomous underwater vehicles) in maritime search has attracted growing attention. As one of the main directions of the multi-AUV research, the multi-AUV cooperative search control is of great significance in promoting the progress of marine science and engineering technology, the exploration and development of marine resources, the national coastal defense security and marine strategy implementation. Firstly, the research status of the multi-AUV cooperative search control in recent years was summarized. Then, from the aspects of the AUV itself and the external constraints of the environment, as well as ocean exploration, the technical difficulties and problems faced by the research institute of the multi-AUV cooperative search control were analyzed. Finally, the development trend of the multi-AUV cooperative search system was discussed by analyzing the current progress and practical needs of multi-AUV cooperative search control.