• Chinese Journal of Ship Research
  • Vol. 20, Issue 1, 3 (2025)
Jiankun LOU1,2, Mengyuan XU1,2, Lin YUE3, Weiqiang FENG4, and Hongdong WANG1,2
Author Affiliations
  • 1Key Laboratory of Marine Intelligent Equipment and System, Ministry of Education, Shanghai 200240, China
  • 2State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
  • 3China Ship Development and Design Center, Wuhan 430064, China
  • 4The 92492 Unit of PLA, Beijing 100161, China
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    DOI: 10.19693/j.issn.1673-3185.04348 Cite this Article
    Jiankun LOU, Mengyuan XU, Lin YUE, Weiqiang FENG, Hongdong WANG. Advances and frontiers of key technologies in intelligent navigation for unmanned surface vehicles[J]. Chinese Journal of Ship Research, 2025, 20(1): 3 Copy Citation Text show less
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    环境感知技术优 势不 足
    航海雷达探测范围广,成像面积大动态目标及微小目标易丢失
    毫米波雷达空间分辨率高,抗干扰性高,反隐身能力强感知分辨率低,易受环境影响,存在测量盲区
    激光雷达近距离探测性能好,精度和分辨率高探测范围有限,易受环境和噪声影响
    声呐水下探测覆盖能力较强,精度较高扫描范围有限,易受环境和平台噪声影响
    视觉传感器探测范围大,直观高效,检测信息量大易受环境和视野影响,算力需求高
    AIS无人舰艇数据及水域动态信息显示直接水域情况覆盖有限,通信易被干扰
    Table 1. Pros and cons of different environment perception technology
    路径规划技术规划目标约束
    航线规划针对静态目标规划最优路线空间上的几何约束
    航迹规划针对动态目标规划最优轨迹空间几何约束与舰艇运动的时间约束
    运动规划针对无人舰艇规划最优运动路径几何约束、时间约束与无人舰艇运动状态约束
    Table 2. Objectives and constraints of different local path planning technology
    Jiankun LOU, Mengyuan XU, Lin YUE, Weiqiang FENG, Hongdong WANG. Advances and frontiers of key technologies in intelligent navigation for unmanned surface vehicles[J]. Chinese Journal of Ship Research, 2025, 20(1): 3
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