智能水下机器人技术展望

智能水下机器人作为一个复杂的系统，集成了人工智能、水下目标的探测和识别、数据融合、智能控制以及导航和通信各子系统，是一个可以在复杂海洋环境中执行各种军用和民用任务的智能化无人平台.由于水下机器人在海事研究和海洋开发中具有远大前景，在未来水下信息获取、精确打击和“非对称情报战”中也有广泛应用，因此水下机器人技术在世界各个国家中都是一个重要和积极的研发领域.基于实践和在相关技术难题上的经验，对智能水下机器人的发展现状和前景进行了描述,对这些问题可能的解决方案提出了建设性的意见.这些相关的技术包括:水下机器人载体设计技术、体系结构、基础运动控制技术、智能规划与决策技术、系统仿真技术、水下目标探测与识别技术、系统可靠性与容错技术等.随着科学技术的发展，人工智能技术将会在智能水下机器人上得到更为广泛的应用.然而水下机器人技术仍然处于基础研究和试验开发阶段，距离全面应用还有很长的路要走.

AUV--state-of-the-art and prospect

Autonomous underwater vehicle(AUV), as a sophist icated system integration of artificial intelligence, underwater target detectio n and identification, data fusion, intelligent control, communication and naviga tion sub-systems, is an unmanned platform to carry out various civil and military missions in com plex ocean environments. Owing to the expectation that AUV will be very promising in maritime research and ocean development and it also may find its way of application in the future underwater conflict for intelligence acquisition, accurate attack and “asymmetric intelligent acupunctural warfare”, AUV tech is an important and active field of R&D，especially in the big powers of the world. State-of-the-art and main trend of development are presented based on our own (domestic) practice and experiences in related technical problems and suggestive proposals for probable way of solution to the problems are offered. The related areas are as follows: vehicle(carrier/platform) design, architecture, control, intelligent planning and decision making, AUV simulation and virtual reality, underwater target detection and identification, reliability and fault-tolerant techniques, etc. With the development of science and artificial intelligence, we’ll see encouraging results in many enabling techniques for AUV. However, AUV technology is still in its stage of basic research, test and development, and there is still a long way to go for its full availability.