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论文:2022,Vol:40,Issue(3):576-583 |
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引用本文： |
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赵荞荞, 张立川, 刘禄, 潘光. 水下仿生机器人集群节能关键技术综述[J]. 西北工业大学学报 |
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ZHAO Qiaoqiao, ZHANG Lichuan, LIU Lu, PAN Guang. Review on energy-saving key technologies of underwater bionic robot swarm[J]. Northwestern polytechnical university |
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| 水下仿生机器人集群节能关键技术综述 |
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| 赵荞荞, 张立川, 刘禄, 潘光 |
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| 西北工业大学 航海学院, 陕西 西安 710072 |
| 摘要: |
| 水下仿生机器人集群具有冗余性高、机动灵活、任务执行范围广等优势,可应用于水下环境信息收集、水下目标监测、资源勘探等领域。一直以来,能量消耗问题都是水下仿生机器人集群工程应用中重点关注的问题。大自然存在的生物集群运动现象启发了水下仿生机器人集群节能运动关键技术的研究,从水动力和集群控制角度,对水下仿生机器人集群节能关键技术的国内外研究现状进行了论述,涉及生物集群运动的节能机理、水下仿生机器人流场信息感知和集群协同控制,分析和总结了水下仿生机器人集群节能关键技术发展趋势。 |
| 关键词:
水下仿生机器人集群
生物集群节能机理
流场信息感知
集群控制
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| Review on energy-saving key technologies of underwater bionic robot swarm |
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| ZHAO Qiaoqiao, ZHANG Lichuan, LIU Lu, PAN Guang |
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| School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| Underwater Bionic Robot swarm has the advantages of high redundancy, flexible mobility and wide range of task execution, which can be applied to underwater environment monitoring, underwater target monitoring, resource exploration and other fields. For a long time, the problem of energy consumption is the focus on the application of Underwater Bionic Robot swarm engineering. This article draws on the sports advantages of biological clusters, from the perspective of hydrodynamic analysis, summarizes the domestic and foreign research status of key energy-saving technologies of underwater bionic robot clusters. The main content includes a summary on the development status of the three key technologies of biological cluster movement energy saving mechanism, underwater bionic robot vortex field information perception and cluster cooperative control, and analysis and summary of the development trend of key energy-saving technologies of underwater bionic robot cluster. |
| Key words:
underwater bionic robot swarm
energy-saving mechanism of biological swarm
vortex field information sensing
cluster control
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| 收稿日期: 2021-08-31
修回日期:
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| DOI: 10.1051/jnwpu/20224030576 |
| 基金项目: 国家重点研发计划(2020YFB1313200)资助 |
| 通讯作者: 张立川(1982—),西北工业大学教授,主要从事水下航行器导航与控制研究。e-mail:zlc@nwpu.edu.cn
Email：zlc@nwpu.edu.cn |
| 作者简介: 赵荞荞(1996—),女,西北工业大学硕士研究生,主要从事水下仿生机器人感知定位技术及水下仿生机器人集群编队控制研究。
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| 作者相关文章 |
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| 赵荞荞 在本刊中的所有文章 |
| 张立川 在本刊中的所有文章 |
| 刘禄 在本刊中的所有文章 |
| 潘光 在本刊中的所有文章 |
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