Article(id=1254362829260260173, tenantId=1146029695717560320, journalId=1254119036117037056, issueId=1254362823425974931, articleNumber=null, orderNo=null, doi=10.13788/j.cnki.cbgc.2026.03.Z3, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=null, receivedDateStr=null, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1776993003429, onlineDateStr=2026-04-24, pubDate=1774368000000, pubDateStr=2026-03-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1776993003429, onlineIssueDateStr=2026-04-24, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1776993003429, creator=13701087609, updateTime=1776993003429, updator=13701087609, issue=Issue{id=1254362823425974931, tenantId=1146029695717560320, journalId=1254119036117037056, year='2026', volume='48', issue='3', pageStart='1', pageEnd='190', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=1, specialIssue=null, createTime=1776993002036, creator=13701087609, updateTime=1776993258606, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1254363899764077151, tenantId=1146029695717560320, journalId=1254119036117037056, issueId=1254362823425974931, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1254363899764077152, tenantId=1146029695717560320, journalId=1254119036117037056, issueId=1254362823425974931, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=Z39, endPage=Z58, ext={EN=ArticleExt(id=1254362830027817815, articleId=1254362829260260173, tenantId=1146029695717560320, journalId=1254119036117037056, language=EN, title=A Review on the Application and Coordination Technologies of Intelligent Unmanned Surface Vehicles, columnId=1254362824956895894, journalTitle=Ship Engineering, columnName=Special Topic: Intelligent Ship, runingTitle=null, highlight=null, articleAbstract=
[Purpose] To systematically review the technological evolution of unmanned surface vehicles (USVs) and explore the path of their convergence with intelligent ships, aiming to overcome the performance bottlenecks of individual USVs regarding endurance, computing power, and communication.
[Method] It reviews the centennial evolution of USVs, tracing the transition from radio remote control to fully autonomous navigation, and from single-agent operation to swarm collaboration. It provides an in-depth analysis of four core technologies: environmental perception, decision planning, motion control, and communication links. On this basis, the study focuses on the convergence trend between USVs and large intelligent ships, analyzing the "mothership-drone" cross-domain collaborative operational mode and the cloud-based management system driven by digital twins.
[Result] It indicates that current USV technology is undergoing an intelligent transition from "perception-avoidance" to "cognition-gaming". Furthermore, the "mothership-drone" collaborative mode, by combining the platform advantages of large ships with the high maneuverability of USVs, effectively resolves the challenges of individual USV operations in complex deep-sea environments and the "last mile" maneuvering difficulties for large intelligent ships entering and leaving ports, thereby achieving complementary advantages.
[Conclusion] Collaborative mode represents a mainstream paradigm for future maritime operations. However, continuous breakthroughs are still required in areas such as regulatory adaptability, communication network security, and green energy propulsion. The findings provide theoretical references for constructing a new integrated air-surface-underwater intelligent maritime equipment system.
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［目的］ 为系统梳理无人水面艇（USV）的技术演进脉络并探索其与智能船舶融合发展的路径，以突破单艇在续航、算力及通信上的性能瓶颈，
［方法］ 回顾USV从无线电遥控到全自主航行、从单体作业到集群协同的百年发展历程。深入剖析环境感知、决策规划、控制驱动及通信链路四大关键核心技术。在此基础上，重点探讨USV与大型智能船舶的融合趋势，分析“母船-子艇”跨域协同作业模式及数字孪生驱动的云端管控体系。
［结果］ 当前USV技术正经历从“感知-避障”向“认知-博弈”的智能化跃升，而“母船-子艇”协同模式通过将大型船舶的平台优势与USV的机动优势结合，可有效解决单艇在深远海复杂环境下作业与大型智能船舶进出港“最后一公里”操纵的难题，实现优势互补。
［结论］ 该协同模式是未来海洋作业的主流范式，但仍应在法律法规适应性、通信网络安全及绿色能源动力等方面持续攻关，研究成果可为构建空海潜一体化的新型海洋智能装备体系提供理论参考。
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本刊已许可中国学术期刊（光盘版）电子杂志社在中国知网及其系列数据库产品中以数字化方式复制、汇编、发行、信息网络传播本刊全文，本刊著作权使用费与本刊稿酬一并支付；本刊所刊登文章均无知识产权争议，不涉及泄露国家秘密、技术秘密或商业秘密。作者向本刊提交文章发表的行为即视为同意我编辑部上述声明，文责自负。, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=4wPfLt/iZ3qeGRM6fCQksg==, magXml=a494nT2tRp5pKdAfBqKVTg==, pdfUrl=null, pdf=S6ONzXVOtYOjp03lZ3VlfA==, pdfFileSize=4448183, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=exHeniQwONLcnHZXWMYsXQ==, mapNumber=null, authorCompany=null, fund=null, authors=null, authorsList=李畅, 楼建坤, 张明阳)}, authors=[Author(id=1254362833915937677, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362829260260173, orderNo=0, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=null, emailSecond=null, emailThird=null, correspondingAuthor=0, authorType=1, ext={EN=AuthorExt(id=1254362834167595928, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362829260260173, authorId=1254362833915937677, language=EN, stringName=Chang LI, firstName=Chang, middleName=null, lastName=LI, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=
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2．上海交通大学，a．海底科学与划界全国重点实验室；b．海洋智能装备与系统教育部重点实验室，上海 200240)])]), Author(id=1254362837137163205, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362829260260173, orderNo=2, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=null, emailSecond=null, emailThird=null, correspondingAuthor=0, authorType=1, ext={EN=AuthorExt(id=1254362837745337292, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362829260260173, authorId=1254362837137163205, language=EN, stringName=Mingyang ZHANG, firstName=Mingyang, middleName=null, lastName=ZHANG, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=
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2．上海交通大学，a．海底科学与划界全国重点实验室；b．海洋智能装备与系统教育部重点实验室，上海 200240)])])], keywords=[Keyword(id=1254362838772941788, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362829260260173, language=EN, orderNo=1, keyword=unmanned surface vehicle (USV)), Keyword(id=1254362839439836128, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362829260260173, language=EN, orderNo=2, keyword=intelligent ship), Keyword(id=1254362841474073580, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362829260260173, language=EN, orderNo=3, keyword=cluster collaboration), Keyword(id=1254362841683788784, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362829260260173, language=EN, orderNo=4, keyword=mother ship submarine), Keyword(id=1254362841989972985, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362829260260173, language=CN, orderNo=1, keyword=无人水面艇), Keyword(id=1254362842384237567, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362829260260173, language=CN, orderNo=2, keyword=智能船舶), Keyword(id=1254362846037475334, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362829260260173, language=CN, orderNo=3, keyword=集群协同), Keyword(id=1254362846490460171, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362829260260173, language=CN, orderNo=4, keyword=母船-子艇)], refs=null, funds=null, companyList=[AuthorCompany(id=1254362832754115440, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362829260260173, xref=1．, ext=[AuthorCompanyExt(id=1254362832762504049, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362829260260173, companyId=1254362832754115440, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China), AuthorCompanyExt(id=1254362832796058483, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362829260260173, companyId=1254362832754115440, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=
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2．上海交通大学，a．海底科学与划界全国重点实验室；b．海洋智能装备与系统教育部重点实验室，上海 200240)])], figs=null, attaches=null, journal=Journal(id=1254118671690702848, delFlag=0, nameCn=船舶工程, nameEn=Ship Engineering, nameHistory1=null, nameHistory2=null, issn=1000-6982, eissn=null, cn=31-1281/U, coden=null, periodic=0, language=CN, oaType=null, ccby=null, superviseOffice=null, ownerOffice=null, pubOffice=null, editorOffice=null, officeType=null, aims=null, clcCode=null, officeProv=null, officeCity=null, officeAddr=null, officeZip=null, officeEmail=null, officePhone=null, editDirector=null, officeDirector=null, officeDirectorPhone=null, officeStaffNum=null, officeEmpNum=null, coverPicUrl=QKJ1ucT0kzxRg7hefG2stg==, journalPrice=null, startedYear=null, abbrevIsoEn=Ship Engineering, journalRemark=null, publicationField=null, createdTime=1776934791732, updatedTime=1776935046929, createdBy=18614031015, updatedBy=13701087609, firstLetterCn=S, firstLetterEn=S, subjectCode=Engineering, subjectName=null, subjectCodeEn=Engineering, 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