AUV导航、规划和控制技术是实现其自主航行和作业的核心内容和关键环节。本文从硬件组成、算法对比角度归纳分析AUV导航技术的发展，从传统算法、智能算法角度归纳分析AUV避障规划技术的发展，从控制算法、控制分配策略角度归纳分析AUV控制技术的发展。最后，对AUV自主航行技术的未来发展趋势和挑战进行了展望。
Navigation, path planning and control technologies are key components of AUVs to realize its autonomous sailing and operations. Developments of AUV navigation technology have been analyzed from points of view of hardware components and data fusion algorithms，evolutions of AUV path planning technology have been investigated from aspects of traditional algorithms and intelligence algorithms，developments of AUV control technology have been introduced from aspects of control algorithms and control allocation strategies. Challenges and future development tendencies of AUVs are being discussed in the final of this paper.
2023,45(12): 51-56 收稿日期：2022-06-28
DOI：10.3404/j.issn.1672-7619.2023.12.010
分类号：U664.82
作者简介：李冀永(1992-),男,博士,工程师,研究方向为水下机器人技术
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