水面无人艇集群编队控制技术综述

随着海上作业任务的日渐复杂以及水面无人艇控制理论的发展，单水面无人艇航行控制能力的局限性逐渐显现，集群编队控制技术得到了广泛关注。针对水面无人艇集群编队控制技术，分析了当前国内外应用情况与技术研究现状，重点从典型编队队形适用性、编队控制系统结构形式、编队协同控制方法、编队控制通信技术及异构条件下协同控制技术等方面分析了水面无人艇集群编队控制技术的研究进展。最后，进行了总结和展望，以期为水面无人艇集群编队控制技术的研究提供有益的参考。

Review for swarm formation control technology of unmanned surface vehicles

With the increasing complexity of marine tasks and the development of the control theory of unmanned surface vehicle (USV), the limitation of navigation control ability of single USV gradually appears. Therefore, the control technology of USVs swarm formation has been widely concerned. The current application and research status at home and abroad are analyzed, aiming at swarm formation control technology of USVs. And from the aspects of typical formation applicability, formation control system structure, cooperative formation control method, formation control communication technology and cooperative formation control technology under heterogeneous conditions, the research progress of swarm formation control technology of USVs is focused. Finally, a summary is made, and the paper looks forward to providing useful reference for the research of swarm formation control technology of USVs.