水声通信多约束下水下无人航行器集群路径规划策略

徐明华; 金建钢; 王斌

doi:10.11990/jheu.202505001

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水声通信多约束下水下无人航行器集群路径规划策略

论文 | 更新时间：2026-03-31

- 水声通信多约束下水下无人航行器集群路径规划策略
- Path planning for underwater unmanned vehicle cluster mine detection in weak communication environments
- 哈尔滨工程大学学报 2025年46卷第8期页码：1583-1592
- 作者机构：
  
  1.上海交通大学海洋智能装备与系统集成技术教育部重点实验室，上海 200240
  2.上海交通大学海洋工程国家重点实验室，上海 200240
- 作者简介：
  
  [ "徐明华，男，硕士研究生" ]
  [ "王斌，男，教授" ]
- 基金信息：
- DOI：10.11990/jheu.202505001
  中图分类号： TP242.63
- 收稿：2025-05-02，
  
  网络首发：2025-06-24，
  
  纸质出版：2025-08-05
- 稿件说明：
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徐明华, 金建钢, 王斌. 水声通信多约束下水下无人航行器集群路径规划策略[J]. 哈尔滨工程大学学报, 2025,46(8):1583-1592.

Minghua XU, Jiangang JIN, Bin WANG. Path planning for underwater unmanned vehicle cluster mine detection in weak communication environments[J]. Journal of Harbin Engineering University, 2025, 46(8): 1583-1592.
徐明华, 金建钢, 王斌. 水声通信多约束下水下无人航行器集群路径规划策略[J]. 哈尔滨工程大学学报, 2025,46(8):1583-1592. DOI： 10.11990/jheu.202505001.

Minghua XU, Jiangang JIN, Bin WANG. Path planning for underwater unmanned vehicle cluster mine detection in weak communication environments[J]. Journal of Harbin Engineering University, 2025, 46(8): 1583-1592. DOI： 10.11990/jheu.202505001.

摘要

针对水下无人航行器集群在水声通信影响下水雷探测任务的路径规划与任务分配需求，本文提出了一种基于自适应大邻域算法的两阶段协同探测方法。通过“粗扫全覆盖+精扫路径规划”策略，结合通信约束动态优化水下无人航行器航速，利用多水下无人航行器协同完成海域粗扫并定位可疑目标区域。随后对可疑目标区域进行精细化扫描并以探测效率最优为目标，采用容量限制的水下无人航行器路径规划模型对多个可疑目标区域进行路径规划。数值仿真结果表明：本文提出的方法能根据海域面积、通信带宽及水下无人航行器数量生成高效探测方案，边际效益量化模型验证了其经济性与有效性。

Abstract

A two-stage cooperative detection method based on an adaptive large neighborhood search algorithm was developed to fulfill the requirements for planning the path and allocating tasks for underwater unmanned vehicle (UUV) clusters in mine detection missions governed by underwater acoustic communication. Adopting a "coarse sweeping full coverage + fine sweeping path planning" strategy

the method first dynamically optimizes the speed of the UUV by incorporating communication constraints

enabling multi-UUV collaboration to achieve coarse sweeping of the sea area and the location of suspicious target regions. Subsequently

a refined scanning of the suspicious target regions is conducted. Moreover

aiming to maximize the detection efficiency

a capacitated vehicle routing problem model is employed for path planning across multiple suspicious target regions. The numerical simulation demonstrates that the proposed method can generate high-efficiency detection schemes based on the sea area

communication bandwidth

and the number of UUVs. The marginal benefit quantification model further verifies the cost-effectiveness and efficacy of this approach.

关键词

Keywords

references

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