由于水下无人潜航器（Unmanned Underwater Vehicle, UUV）电池容量的限制，UUV集群难以满足某些大范围、长航时的任务需求，利用动基座回收技术，使用运载平台对UUV集群进行回收再布放可有效延长UUV的作业时间。针对运载平台对UUV集群的回收问题，建立UUV集群回收任务规划模型，提出一种改进的粒子群算法对UUV集群回收路线进行规划，使UUV集群整体回收时间最短。仿真结果表明，所提方法可有效解决UUV集群回收任务规划问题。
Due to the limited battery capacity of UUV, UUV swarms are difficult to meet the task requirements of large-scale and long-duration missions. By using the dynamic base recovery technology, the deployment and recovery of UUVs can be achieved using a carrier platform, effectively extending the operational time of UUVs. This paper addresses the problem of retrieving UUVs in a swarm for a carrier platform, and established a task planning model for retrieving the UUV swarm. It used an improved Particle Swarm Optimization (PSO) algorithm to plan the retrieval locations of the UUV swarm, aiming to minimize the overall retrieval time of the UUV swarm. Simulation results show that the method proposed in this paper can effectively solve the task planning problem of retrieving the UUV swarm.
2025,47(23): 92-97 收稿日期：2025-2-8
DOI：10.3404/j.issn.1672-7649.2025.23.014
分类号：U674.94；TJ630.1
基金项目：国防科工局基础科研资助项目（JCKY2021206B086）
作者简介：曹亚浩(1997-),男,硕士研究生,研究方向为水下有人无人协同
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