论文标题
运动计划和跟踪无人水下车辆的控制：技术，挑战和前景
Motion Planning and Tracking Control of Unmanned Underwater Vehicles: Technologies, Challenges and Prospects
论文作者
论文摘要
The motion planning and tracking control techniques of unmanned underwater vehicles (UUV) are fundamentally significant for efficient and robust UUV navigation, which is crucial for underwater rescue, facility maintenance, marine resource exploration, aquatic recreation, etc. Studies on UUV motion planning and tracking control have been growing rapidly worldwide, which are usually sorted into the following topics: task assignment of the multi-UUV system, UUV path planning and UUV轨迹跟踪。本文对传统和智能技术进行了全面审查，用于运动计划和跟踪UUV的控制。对文献中这些各种方法的益处和缺点的分析进行了分析。此外，为将来的研究提供了UV运动计划和跟踪控制的挑战和前景。
The motion planning and tracking control techniques of unmanned underwater vehicles (UUV) are fundamentally significant for efficient and robust UUV navigation, which is crucial for underwater rescue, facility maintenance, marine resource exploration, aquatic recreation, etc. Studies on UUV motion planning and tracking control have been growing rapidly worldwide, which are usually sorted into the following topics: task assignment of the multi-UUV system, UUV path planning and UUV trajectory tracking. This paper provides a comprehensive review of conventional and intelligent technologies for motion planning and tracking control of UUVs. Analysis of the benefits and drawbacks of these various methodologies in literature is presented. In addition, the challenges and prospects of UUV motion planning and tracking control are provided as possible developments for future research.
