无人水面艇感知技术发展综述

The unmanned surface vehicle has attracted increasing interest from researchers in China and around the world due to its flexible maneuverability and role in replacing manual operations in hazardous conditions. In unmanned water driving technology systems, the sensing technology is the core component. Currently, research on this sensing technology remains in its infancy. This article reviews the research and development of unmanned vehicles and focuses its analysis and discussion on three key sensing technologies: first, target detection using unmanned surface vehicles, primarily including obstacle-detection-oriented and operation-oriented target detections; second, the target tracking; third, the real-time localization. Considering the challenges of system stability and target detection capability faced by unmanned-surface-vehicle sensing technology, the limitations and future development trends of unmanned-surface-vehicle sensing technology are considered.