自主水下航行器（Autonomous Underwater Vehicle，AUV）在海洋工程、海洋科考以及军事活动中发挥着越来越重要的作用，能源补给和信息交换是影响AUV作业时长和作业效率的2个主要因素。受自身携带能源和水下环境的制约，AUV的能源补给和信息交换一般需将其回收至母船后进行。母船释放回收过程作业强度高、危险性大，极大限制了AUV的工程化应用。水下对接技术为AUV在水下完成能源补给和信息交换创造了条件，规避了AUV布放回收过程自动化程度低、风险高、隐蔽性差等问题，近年来成为水下机器人研究领域的热点。面向多海洋平台协同的动态水下对接技术受对接区域限制更少，对环境要求更低，在降低人员成本的基础上更具灵活性。在分析国内外动态水下对接技术在多类平台上应用情况的基础上，详细介绍一种AUV之间的水下动态对接系统，对其系统组成特点展开论述，并分析其湖上验证结果，总结动态水下对接技术在传感器数据处理、控制策略、抗水动力干扰等自主方面的关键技术，最后对整体技术的发展提出展望。
The underwater docking technology of autonomous underwater robots can solve the problems of low automation and poor concealment in the process of AUV deployment and recovery and energy transfer，which has become a hot issue in the field of underwater robotics in recent years. The UAV dynamic docking technology for the direction of multi-ocean platform cooperation is less restricted by the region， has low docking environment requirements，and is more flexible on the basis of reducing personnel costs. Based on the analysis of underwater dynamic docking applications of various platforms at home and abroad，the AUV docking system is introduced from the perspectives of "unmanned" and "stealth"，and the characteristics of its system components are discussed. The results of lake and sea validation are analyzed，the characteristics of dynamic docking are summarized，and the future development direction of the overall technology is proposed.
2023,45(21): 97-103 收稿日期：2022-8-11
DOI：10.3404/j.issn.1672-7649.2023.21.018
分类号：TP242.6
基金项目：基础科研项目（E01Z0916； E01Z0916）
作者简介：刘菲菲（1988-），女，工程师，研究方向为机器人水下对接技术
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