自主水下机器人系统感知-决策-控制技术综述OA

Underwater vehicle-manipulator systems(UVMS)integrated the mobility of underwater vehicles with the dexterous manipulation capability of manipulators,thereby providing essential technological support for complex deep-sea operations such as inspection,maintenance,and intervention.A systematic review of recent research on the key technologies of UVMS was presented.Firstly,from the perspective of perception,underwater environment sensing methods,underwater image enhancement,and target detection techniques were summarized,and their application performance in complex underwater operational scenarios was analyzed.Secondly,from the decision-making perspective,obstacle avoidance,path planning,and motion trajectory planning methods were reviewed,with a discussion on the impact of task complexity and environmental uncertainty on planning and decision performance.Thirdly,from the control perspective,motion control and force interaction control methods for UVMS were examined,and the applicability of model-based,adaptive,and data-driven control strategies in underwater operations was comparatively analyzed.Finally,from the perspectives of multimodal robust perception,intelligent decision-making and task planning,and motion-force control,the future development trends of UVMS were discussed,and frontier technologies with potential application prospects were identified.