伴随各国对海洋的不断探索以及新时代无人技术的日新月异，水下无人航行器（Unmanned Underwater Vehicle，UUV）作为智能化海洋设备在海洋搜索领域发挥重要作用，UUV集群系统更是具有极高的灵活性、容错性和协作性，所以在水下不良联通环境下UUV的联动搜索问题急需解决。本文针对UUV集群系统在陌生区域执行搜索任务的情况，提出一种基于累计概率最优的UUV集群搜索方法。通过对目标初始位置概率分布估计，选取目标出现概率累计最大化路线，得到UUV路径规划，实现区域搜索，最后通过仿真实验确定了该方法的有效性。
With the continuous exploration of the ocean by various countries and the rapid development of unmanned technology in the new era, unmanned underwater vehicles (UUVs) play an important role in the field of ocean search as intelligent ocean equipment. The UUV cluster system has extremely high flexibility, fault tolerance, and collaboration. Therefore, the problem of UUV linkage search in poor underwater connectivity environments urgently needs to be solved. This article proposes a UUV cluster search method based on the optimal cumulative probability, targeting the situation where UUV cluster systems perform search tasks in unfamiliar areas. By estimating the probability distribution of the initial position of the target and selecting the path that maximizes the cumulative probability of target occurrence, UUV path planning is obtained to achieve region search. Finally, the effectiveness of this method was determined through simulation experiments.
2025,47(5): 183-189 收稿日期：2024-6-9
DOI：10.3404/j.issn.1672-7649.2025.05.028
分类号：E925.2
作者简介：胡智星（1999 – ），男，硕士研究生，研究方向为控制理论与控制工程
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