研制开发1套水面无人艇（USV）集群系统，使无人艇能够实现集群化运作。根据系统的功能需求，设计系统的整体架构，将整个系统划分为岸基基站子系统和无人艇子系统。基于模块化设计理念，再将子系统细分成各个模块，分别对各模块进行硬件选型与软件设计，使其有机的结合，建立具备多任务、长航时、高精度导航及较高智能化的集群系统。将系统运送至喻家湖湖区进行各项试验，实验结果表明，该水面无人艇集群系统具有良好的实时性、准确性与可靠性，能够满足集群化运作的要求。该系统的结构还可扩展至无人机、无人水下航行器等，对今后开展无人集群系统的协同化、智能化研究具有参考意义。
In order to make sure the USV achieve cluster operation, unmanned surface vehicle(USV) cluster system was developed. According to the functional requirements of the system, we designed the overall system architecture. The whole system is divided into base station subsystem and USV subsystem. Based on the modular design concept, the sub system is subdivided into each module, and the hardware selection and software design of each module were carried out to set up a cluster system with multi task, long endurance, high precision navigation and high intelligence. By transporting the system to the lake Yujia lake for the experiment, experiment results show that the USVs system have good real-time, accuracy and reliability. The system can meet the requirements of cluster operation. The structure of the system can be extended to UAVs, UUVs and so on. It will be of reference significance for the collaborative and intelligent research of unmanned trunked system in the future.
2019,41(4): 83-88 收稿日期：2017-10-10
DOI：10.3404/j.issn.1672-7649.2019.04.016
分类号：E273
基金项目：湖北省自然科学基金资助项目（2013CFB154）；上海交通大学海洋工程国家重点实验室开放基金资助项目（1304）
作者简介：胡建章(1994-),男,硕士研究生,研究方向为海洋无人集群
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