SAHOO A , DWIVEDY S K , ROBI P S . Advancements in the field of autonomous underwater vehicle [J ] . Ocean Engineering , 2019 , 181 : 145 - 160 . DOI: 10.1016/j.oceaneng.2019.04.011 http://doi.org/10.1016/j.oceaneng.2019.04.011 Autonomous Underwater Vehicles (AUVs) are robotic devices with a propulsion system for navigation and an onboard computer for decision making. AUV research is gaining popularity because of its extensive applications in fields from military to science. Robotic systems are need of the hour for exploration and environmental safety of the vast and deep oceans and water bodies. This paper presents current research trends in the field of AUVs and highlights future research directions. Here localization and navigation techniques such as inertial navigation to simultaneous localization and mapping being used in current AUVs are discussed in detail. Different optimal path planning and control methods are highlighted. Use of different sensor technology like sonar, laser, acoustic modems and stereo vision systems for localization, navigation and mapping is presented. Recent developments in underwater wireless communication along with the commercially available devices are discussed.

邱志明 , 孟祥尧 , 马焱 , 等 . 海上无人系统发展及关键技术研究 [J ] . 中国工程科学 , 2023 , 25 ( 3 ): 74 - 83 . DOI: 10.15302/J-SSCAE-2023.03.005 http://doi.org/10.15302/J-SSCAE-2023.03.005 海上无人系统是未来智能化、无人化战争中的重要组成部分，已经成为世界各国海上竞争新的制高点，在国家和国防安全方面将扮演越来越重要的角色。本文从国家智能无人战略发展需求出发，从战略规划和概念引领、技术研究和装备研发、系统演示和能力验证三个层面系统分析了当前国内外海上无人系统及其技术的发展现状，凝练了当前海上无人系统技术各方面发展趋势和面临的挑战，论证提出了未来海上无人系统发展中需攻克的关键技术。据此结合实际发展情况和未来发展趋势，分析提出了海上无人系统的重点发展方向，最后从总体思路、体系构成、装备发展、技术攻关四个不同层面提出了推动海上无人系统持续、稳步、快速发展的对策建议，以期促进我国海洋装备发展。

QIU Z M , MENG X Y , MA Y , et al. Development and key technologies of maritime unmanned systems [J ] . Strategic Study of CAE , 2023 , 25 ( 3 ): 74 - 83 . (in Chinese) DOI: 10.15302/J-SSCAE-2023.03.005 http://doi.org/10.15302/J-SSCAE-2023.03.005 Maritime unmanned system are crucial for future intelligent and unmanned warfare. They have become a new height of competition in the maritime domain and will play an increasingly important role in national defense security. Considering the development demand for national intelligence and unmanned strategies, the study analyzes the development status of maritime unmanned systems and corresponding technologies in China and abroad from the aspects of strategic planning and conceptual guidance, technological research and equipment development, and system demonstration and capability verification. The challenges and trends for the development of maritime unmanned systems are summarized and key technical challenges are proposed. Moreover, development pathways of maritime unmanned systems in key directions are explored and countermeasures to promote the sustained, steady, and rapid development of maritime unmanned systems are recommended from the perspectives of overall thinking, system composition, equipment development, and technology breakthroughs.

徐同乐 , 刘方 , 肖玉杰 , 等 . 国外无人反水雷装备及技术发展 [J ] . 兵工学报 , 2022 , 43 ( 增刊2 ): 64 - 70 .

XU T L , LIU F , XIAO Y J , et al. Foreign unmanned equipment and technology development in mine countermeasures [J ] . Acta Armamentarii , 2022 , 43 ( S2 ): 64 - 70 . (in Chinese) DOI: 10.12382/bgxb.2022.B019 http://doi.org/10.12382/bgxb.2022.B019 As natioans are pursing the concept of “zero casualties”, the unmanned minefield has gradually become the trend of future mine warfare. As a new type of combat force, the development of unmanned systems in the anti-mine field has attracted much attention, which is worthy of further study. Based on the current situation of unmanned mine countermeasure development abroad, the technical characteristics and typical equipment indicators of UUVs, UAV,s and USVs are compared. The key techniques in unmanned mine countermeasure equipment in the fields of energy power, autonomous control, cooperative control, deployment recovery and stealth are described and summarized. The development trend of remote control, universal design, functional expansion and collaborative development are analyzed, and some references for the development of mine countermeasures in China are provided.

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郭银景 , 刘琦 , 鲍建康 , 等 . 基于人工势场法的AUV避障算法研究综述 [J ] . 计算机工程与应用 , 2020 , 56 ( 4 ): 16 - 23 . DOI: 10.3778/j.issn.1002-8331.1910-0464 http://doi.org/10.3778/j.issn.1002-8331.1910-0464 简述了人工势场法的概念，分析了人工势场法的引力和斥力势场模型，指出了人工势场法在应用中存在的水下复杂环境问题、目标不可达问题、局部极小值问题；从考虑复杂障碍物因素和海流因素两方面阐述了水下复杂环境问题的研究现状，从对势场函数进行重新定义或对斥力势场函数进行修正两方面阐述了目标不可达问题的研究现状，从设置虚拟引导点等方面阐述了局部极小值问题的研究现状，并且阐述了几种组合避障算法的研究现状；从构造更完善的势场函数模型、考虑复杂海流因素影响、算法融合以及在算法中加入路径评价机制等方面对人工势场法未来的发展方向进行了展望。

GUO Y J , LIU Q , BAO J K , et al. Overview of AUV obstacle avoidance algorithm based on artificial potential field method [J ] . Computer Engineering and Applications , 2020 , 56 ( 4 ): 16 - 23 . (in Chinese) DOI: 10.3778/j.issn.1002-8331.1910-0464 http://doi.org/10.3778/j.issn.1002-8331.1910-0464 First of all, the concept of artificial potential field method is briefly introduced, the models of gravitation and repulsion potential field of artificial potential field method are analyzed, and the problems of complex underwater environment, inaccessibility of target and local minimum value existing in the application of artificial potential field method are pointed out. Then, the research status of the complex underwater environment problem is described from two aspects of considering complex obstacles and current factors, and the potential field function is analyzed. The research status of the problem of the inaccessibility of target is described from two aspects：redefining the number or modifying the repulsion potential field function. The research status of the local minimum problem is described from setting the virtual guide point, and then the research status of several combined obstacle avoidance algorithms is described. Finally, the more perfect potential field function model is constructed, the influence of complex current factors is considered, and the algorithm is integrated. Finally, the future development direction of artificial potential field method is prospected.

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杜宏宝 , 王正杰 , 唐礼喜 , 等 . 基于控制障碍函数的飞行器避障与制导控制 [J ] . 兵工学报 , 2023 , 44 ( 9 ): 2814 - 2823 . DOI: 10.12382/bgxb.2022.1002 http://doi.org/10.12382/bgxb.2022.1002 为实现动态障碍物环境下飞行器对目标的打击以提高其工程适用性,建立飞行器与障碍物以及飞行器与目标的运动学模型。在控制障碍函数的基础上进行拓展,结合速度障碍法对飞行器速度施加约束,与现有的比例制导律构建二次优化问题,得到闭式解形式的避障制导律。数值仿真并分析轨迹和过载曲线的特性。研究结果表明:所提出的避障制导律可以实时地避开运动障碍物并打击目标,有较好的全局特性;与已有避障制导律相比,过载曲线更加平缓且饱和过载占比小。

DU H B , WANG Z J , TANG L X , et al. Control barrier function-based control for aircraft avoidance and guidance with dynamic obstacles [J ] . Acta Armamentarii , 2023 , 44 ( 9 ): 2814 - 2823 . (in Chinese) DOI: 10.12382/bgxb.2022.1002 http://doi.org/10.12382/bgxb.2022.1002 To improve the engineering applicability of aircraft when pursuing a target in the presence of dynamic obstacles, the relative motion relationship between the aircraft and obstacles, as well as between the aircraft and the target are analyzed. Leveraging the control barrier function (CBF), the velocity obstacle approach is used to constrain the velocity of the aircraft, and a quadratic programming (QP) problem is constructed with the existing proportional guidance law. Then, a closed-form obstacle avoidance guidance law is proposed by solving the QP problem. Numerical simulation and analysis of the trajectory properties and overload show that the proposed obstacle avoidance and guidance law can avoid a moving obstacle in real time and pursue the target with favorable global properties. Compared to existing methods, the overload curve is smoother, and the saturation overload ratio is smaller.