水面无人艇集群编队控制技术:现状、挑战与未来趋势OA

With the increasing complexity of maritime operations,the control technology for unmanned surface vehicle(USV)swarm formations has gradually emerged as a prominent research focus.This paper systematically reviews the current state of research on USV swarm formation control,with emphasis on key technologies such as swarm structure optimization,dynamic task allocation,distributed cooperative control algorithms,and communication architecture design for heterogeneous systems.Although significant progress has been achieved in current technologies,several critical challenges remain,inclu-ding insufficient adaptability in complex environments,bottlenecks in heterogeneous coordination,limited autonomous deci-sion-making capabilities,and constraints related to energy and cost.Furthermore,this paper explores future development di-rections and proposes that intelligent reinforcement learning coupled with distributed autonomous decision-making,cross-do-main communication networking,multi-physical field coupling modeling,and modular scalable architecture design will be pivotal in advancing USV technology.These advancements are expected to facilitate the transition of USV swarms from"fixed formations"to"adaptive cooperation,"thereby providing technical support for complex scenarios such as marine resource exploration and emergency response operations.