首页 期刊 论文 学科刊群 资讯 加盟 关于
EN
image
Article(id=1254362830384337456, tenantId=1146029695717560320, journalId=1254119036117037056, issueId=1254362823425974931, articleNumber=null, orderNo=null, doi=10.13788/j.cnki.cbgc.2026.03.Z1, 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=1776993003698, onlineDateStr=2026-04-24, pubDate=1774368000000, pubDateStr=2026-03-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1776993003698, onlineIssueDateStr=2026-04-24, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1776993003698, creator=13701087609, updateTime=1776993003698, 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=Z10, endPage=Z28, ext={EN=ArticleExt(id=1254362834243097151, articleId=1254362830384337456, tenantId=1146029695717560320, journalId=1254119036117037056, language=EN, title=A Review and Prospect of Autonomous Navigation Decision and Control Technology for Unmanned Surface Vehicles, columnId=1254362824956895894, journalTitle=Ship Engineering, columnName=Special Topic: Intelligent Ship, runingTitle=null, highlight=null, articleAbstract=
[Purpose]

To review the current state of research on autonomous navigation decision-making and control technologies for intelligent unmanned surface vehicles, and to clarify the technical bottlenecks and development trends under scenarios of varying complexity,

[Method]

a systematic investigation is conducted into the development history of key technologies for unmanned surface vehicles both domestically and internationally. It review addresses the differing technical requirements between low-to-medium complexity and high-complexity application scenarios, covering path planning, line-of-sight guidance, autonomous collision avoidance, automatic docking and undocking, multi-agent cooperative control, and autonomous recovery. It evaluates existing technological shortcomings and provides recommendations for future development.

[Result]

Analysis indicates that autonomous navigation technology for open waters has matured and is gradually being implemented in engineering applications. However, core technologies for complex waters and complex missions still face developmental bottlenecks.

[Conclusion]

Looking further ahead, we propose establishing a standardized simulation and real-vessel testing evaluation system tailored to real-world scenarios. It will accelerate the rapid iteration and implementation of key technologies, thereby supporting the advancement of autonomous navigation decision-making and control technologies for unmanned surface vehicles in China.

, correspAuthors=null, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, authorCompany=null, fund=null, authors=null, authorsList=Shixing LYU, Haocheng YANG, Lin GENG, Shidi WU, Sen HAN, Li ZHOU), CN=ArticleExt(id=1254362838626144864, articleId=1254362830384337456, tenantId=1146029695717560320, journalId=1254119036117037056, language=CN, title=无人船艇自主航行决策控制技术综述与展望, columnId=1254362825296634520, journalTitle=船舶工程, columnName=专题：智能船舶, runingTitle=null, highlight=null, articleAbstract=
［目的］

为梳理水面智能无人船艇自主航行决策控制技术的研究现状，厘清不同复杂度场景下的技术瓶颈与发展趋势，

［方法］

系统调研了国内外无人船艇关键技术发展历程。围绕中低复杂度与高复杂度2类应用场景的技术需求差异，分别对路径规划、视线（LOS）制导、自主避碰、自动靠离泊、多智能体协同控制和自主回收等方向展开综述，评述现有技术不足并给出发展建议。

［结果］

分析表明，面向开放水域的自主航行技术已日趋成熟并逐步实现工程化应用，但面向复杂水域和复杂任务的核心技术仍存在发展瓶颈。

［结论］

进一步展望未来，提出应构建面向真实场景的标准化仿真和实船测试评价体系，推动关键技术快速迭代与落地，为我国无人船艇自主航行决策控制技术的发展提供支撑。

, correspAuthors=null, authorNote=null, correspAuthorsNote=null, copyrightStatement=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=0wpNI8TMM80xWNxEUNmjow==, magXml=2ckl3qHHFcXDeR9t0otIgw==, pdfUrl=null, pdf=I5sAho+V2mEnex1fJoqrDA==, pdfFileSize=9956572, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=lBOKl/9TdP0sydm6dGdo8g==, mapNumber=null, authorCompany=null, fund=null, authors=null, authorsList=吕世兴, 杨浩成, 耿林, 吴诗迪, 韩森, 周利)}, authors=[Author(id=1254362842623316622, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, 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=1254362846209446553, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, authorId=1254362842623316622, language=EN, stringName=Shixing LYU, firstName=Shixing, middleName=null, lastName=LYU, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=1, address=School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, Jiangsu, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1254362846746317469, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, authorId=1254362842623316622, language=CN, stringName=吕世兴, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=1, address=1．江苏科技大学船舶与海洋工程学院，江苏镇江　212100, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null)}, companyList=[AuthorCompany(id=1254362841583129207, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, xref=1．, ext=[AuthorCompanyExt(id=1254362841641849467, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362841583129207, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, Jiangsu, China), AuthorCompanyExt(id=1254362841679598205, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362841583129207, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=1．江苏科技大学船舶与海洋工程学院，江苏镇江　212100)])]), Author(id=1254362847006364326, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, orderNo=1, 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=1254362847274799792, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, authorId=1254362847006364326, language=EN, stringName=Haocheng YANG, firstName=Haocheng, middleName=null, lastName=YANG, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=1, address=School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, Jiangsu, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1254362847497097909, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, authorId=1254362847006364326, language=CN, stringName=杨浩成, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=1, address=1．江苏科技大学船舶与海洋工程学院，江苏镇江　212100, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null)}, companyList=[AuthorCompany(id=1254362841583129207, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, xref=1．, ext=[AuthorCompanyExt(id=1254362841641849467, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362841583129207, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, Jiangsu, China), AuthorCompanyExt(id=1254362841679598205, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362841583129207, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=1．江苏科技大学船舶与海洋工程学院，江苏镇江　212100)])]), Author(id=1254362847987831481, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, 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=1254362848176575165, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, authorId=1254362847987831481, language=EN, stringName=Lin GENG, firstName=Lin, middleName=null, lastName=GENG, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=1, address=School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, Jiangsu, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1254362848335958722, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, authorId=1254362847987831481, language=CN, stringName=耿林, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=1, address=1．江苏科技大学船舶与海洋工程学院，江苏镇江　212100, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null)}, companyList=[AuthorCompany(id=1254362841583129207, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, xref=1．, ext=[AuthorCompanyExt(id=1254362841641849467, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362841583129207, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, Jiangsu, China), AuthorCompanyExt(id=1254362841679598205, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362841583129207, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=1．江苏科技大学船舶与海洋工程学院，江苏镇江　212100)])]), Author(id=1254362850047234761, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, orderNo=3, 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=1254362850244367054, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, authorId=1254362850047234761, language=EN, stringName=Shidi WU, firstName=Shidi, middleName=null, lastName=WU, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=1, address=School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, Jiangsu, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1254362850500219601, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, authorId=1254362850047234761, language=CN, stringName=吴诗迪, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=1, address=1．江苏科技大学船舶与海洋工程学院，江苏镇江　212100, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null)}, companyList=[AuthorCompany(id=1254362841583129207, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, xref=1．, ext=[AuthorCompanyExt(id=1254362841641849467, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362841583129207, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, Jiangsu, China), AuthorCompanyExt(id=1254362841679598205, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362841583129207, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=1．江苏科技大学船舶与海洋工程学院，江苏镇江　212100)])]), Author(id=1254362850877706969, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, orderNo=4, 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=1254362851217445600, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, authorId=1254362850877706969, language=EN, stringName=Sen HAN, firstName=Sen, middleName=null, lastName=HAN, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=1, address=School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, Jiangsu, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1254362851418772196, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, authorId=1254362850877706969, language=CN, stringName=韩森, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=1, address=1．江苏科技大学船舶与海洋工程学院，江苏镇江　212100, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null)}, companyList=[AuthorCompany(id=1254362841583129207, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, xref=1．, ext=[AuthorCompanyExt(id=1254362841641849467, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362841583129207, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, Jiangsu, China), AuthorCompanyExt(id=1254362841679598205, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362841583129207, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=1．江苏科技大学船舶与海洋工程学院，江苏镇江　212100)])]), Author(id=1254362851527824104, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, orderNo=5, 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=1254362851645264620, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, authorId=1254362851527824104, language=EN, stringName=Li ZHOU, firstName=Li, middleName=null, lastName=ZHOU, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=2, address=School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1254362851758510829, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, authorId=1254362851527824104, language=CN, stringName=周利, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=2, address=2．上海交通大学船舶海洋与建筑工程学院，上海　200240, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null)}, companyList=[AuthorCompany(id=1254362842044502657, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, xref=2．, ext=[AuthorCompanyExt(id=1254362842069668482, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362842044502657, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China), AuthorCompanyExt(id=1254362842086445700, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362842044502657, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=2．上海交通大学船舶海洋与建筑工程学院，上海　200240)])])], keywords=[Keyword(id=1254362851938865903, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, language=EN, orderNo=1, keyword=unmanned surface vehicle), Keyword(id=1254362852102443760, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, language=EN, orderNo=2, keyword=autonomous navigation), Keyword(id=1254362852224078577, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, language=EN, orderNo=3, keyword=decision and control), Keyword(id=1254362852299576050, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, language=EN, orderNo=4, keyword=path planning), Keyword(id=1254362852379267827, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, language=EN, orderNo=5, keyword=autonomous collision avoidance), Keyword(id=1254362852547039988, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, language=CN, orderNo=1, keyword=无人船艇), Keyword(id=1254362852643508981, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, language=CN, orderNo=2, keyword=自主航行), Keyword(id=1254362852748366582, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, language=CN, orderNo=3, keyword=决策控制), Keyword(id=1254362852844835575, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, language=CN, orderNo=4, keyword=路径规划), Keyword(id=1254362852907750136, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, language=CN, orderNo=5, keyword=自主避碰)], refs=null, funds=[Fund(id=1254362853020996345, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, awardId=52401381, language=CN, fundingSource=国家自然科学基金(52401381), fundOrder=null, country=null)], companyList=[AuthorCompany(id=1254362841583129207, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, xref=1．, ext=[AuthorCompanyExt(id=1254362841641849467, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362841583129207, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, Jiangsu, China), AuthorCompanyExt(id=1254362841679598205, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362841583129207, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=1．江苏科技大学船舶与海洋工程学院，江苏镇江　212100)]), AuthorCompany(id=1254362842044502657, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, xref=2．, ext=[AuthorCompanyExt(id=1254362842069668482, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362842044502657, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China), AuthorCompanyExt(id=1254362842086445700, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362830384337456, companyId=1254362842044502657, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=2．上海交通大学船舶海洋与建筑工程学院，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, subjectNameEn=null, picCn=QKJ1ucT0kzxRg7hefG2stg==, picEn=UzflOrLQeqsEnDwsbex92A==, jcr=null, cjcr=null, exts=[JournalExt(id=1254119742172754305, language=CN, name=船舶工程, nameHistory1=null, nameHistory2=null, managedBy=, sponsoredBy=, publishedBy=, editorOffice=, officeProv=null, officeCity=null, officeAddr=, officeZip=, editDirector=, officeDirector=null, officePhone=null, coverPicUrl=null, journalRemark=, submitArticleUrl=null, websiteUrl=, createdTime=1776935046952, updatedTime=1776935046952, createdBy=13701087609, updatedBy=13701087609, submissionGuidelinesUrl=, submissionAuthorUrl=https://canb.cbpt.cnki.net/index.aspx?t=1, submissionEditorUrl=https://canb.cbpt.cnki.net/index.aspx?t=3, submissionReviewUrl=https://canb.cbpt.cnki.net/index.aspx?t=2, submissionCeEditorUrl=, submissionAeEditorUrl=, option={"copyright":""}), JournalExt(id=1254119742256640386, language=EN, name=Ship Engineering, nameHistory1=null, nameHistory2=null, managedBy=, sponsoredBy=, publishedBy=, editorOffice=, officeProv=null, officeCity=null, officeAddr=, officeZip=, editDirector=, officeDirector=null, officePhone=null, coverPicUrl=null, journalRemark=, submitArticleUrl=null, websiteUrl=, createdTime=1776935046972, updatedTime=1776935046972, createdBy=13701087609, updatedBy=13701087609, submissionGuidelinesUrl=, submissionAuthorUrl=https://canb.cbpt.cnki.net/index.aspx?t=1, submissionEditorUrl=https://canb.cbpt.cnki.net/index.aspx?t=3, submissionReviewUrl=https://canb.cbpt.cnki.net/index.aspx?t=2, submissionCeEditorUrl=, submissionAeEditorUrl=, option={"copyright":""})], databaseList=null, tenantJournalId=1254119036117037056, websiteList=[Website(id=1254120112076808391, webName=null, webTitle=null, webDomain=null, webCopyrigh=null, webIpcNo=null, seoTitle=null, seoKeywords=null, seoDescription=null, tenantJournalId=null, journalId=1254119036117037056, journalNameCn=null, journalNameEn=null, grayFlag=null, tenantId=1146029695717560320, platformId=null, journalGroupId=null, journalGroupNameCn=null, journalGroupNameEn=null, type=1, domain=https://castjournals.cast.org.cn/joweb/cbgc/CN, language=CN, createTime=1776935135145, createBy=18614031015, updateTime=1776935183637, updateBy=18614031015, name=船舶工程-中文, tplId=1146099689490845704, title=船舶工程, delFlag=0, indexPage=/home, props=[WebsiteProps(id=1254120435101139645, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112076808391, code=articleTextType, value=kx, createTime=1776935212159, updateTime=1776935212159, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120434992087738, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112076808391, code=banner, value=null, createTime=1776935212133, updateTime=1776935212133, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120435193414336, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112076808391, code=grayFlag, value=0, createTime=1776935212181, updateTime=1776935212181, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120434866258617, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112076808391, code=logo, value=https://castjournals.cast.org.cn/joweb/cbgc/CN/file/pic?fileId=fSZFF0IRe4AaT5NbXflSvg==, createTime=1776935212103, updateTime=1776935212103, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120435226968770, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112076808391, code=minRunFlag, value=0, createTime=1776935212189, updateTime=1776935212189, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120435067585212, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112076808391, code=picServerUrl, value=https://castjournals.cast.org.cn/joweb/cbgc/CN/file/pic, createTime=1776935212151, updateTime=1776935212151, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120435214385857, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112076808391, code=silenceFlag, value=0, createTime=1776935212186, updateTime=1776935212186, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120435013059259, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112076808391, code=staticResourcePath, value=https://castjournals.cast.org.cn/joweb/cast_kjdb_cn_619/, createTime=1776935212138, updateTime=1776935212138, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120435122111166, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112076808391, code=themeColor, value=null, createTime=1776935212164, updateTime=1776935212164, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120435172442815, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112076808391, code=themeStyle, value=null, createTime=1776935212176, updateTime=1776935212176, creator=18614031015, updator=18614031015)]), Website(id=1254120112211026122, webName=null, webTitle=null, webDomain=null, webCopyrigh=null, webIpcNo=null, seoTitle=null, seoKeywords=null, seoDescription=null, tenantJournalId=null, journalId=1254119036117037056, journalNameCn=null, journalNameEn=null, grayFlag=null, tenantId=1146029695717560320, platformId=null, journalGroupId=null, journalGroupNameCn=null, journalGroupNameEn=null, type=1, domain=https://castjournals.cast.org.cn/joweb/cbgc/EN, language=EN, createTime=1776935135176, createBy=18614031015, updateTime=1776935187483, updateBy=18614031015, name=船舶工程-英文, tplId=1146101810881728533, title=Ship Engineering, delFlag=0, indexPage=/home, props=[WebsiteProps(id=1254120460837380320, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112211026122, code=articleTextType, value=kx, createTime=1776935218295, updateTime=1776935218295, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120460749299933, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112211026122, code=banner, value=null, createTime=1776935218274, updateTime=1776935218274, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120460891906275, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112211026122, code=grayFlag, value=0, createTime=1776935218308, updateTime=1776935218308, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120460707356892, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112211026122, code=logo, value=https://castjournals.cast.org.cn/joweb/cbgc/EN/file/pic?fileId=fSZFF0IRe4AaT5NbXflSvg==, createTime=1776935218264, updateTime=1776935218264, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120460921266405, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112211026122, code=minRunFlag, value=0, createTime=1776935218315, updateTime=1776935218315, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120460803825887, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112211026122, code=picServerUrl, value=https://castjournals.cast.org.cn/joweb/cbgc/EN/file/pic, createTime=1776935218287, updateTime=1776935218287, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120460908683492, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112211026122, code=silenceFlag, value=0, createTime=1776935218312, updateTime=1776935218312, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120460778660062, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112211026122, code=staticResourcePath, value=https://castjournals.cast.org.cn/joweb/cast_kjdb_en_623/, createTime=1776935218281, updateTime=1776935218281, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120460854157537, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112211026122, code=themeColor, value=null, createTime=1776935218299, updateTime=1776935218299, creator=18614031015, updator=18614031015), WebsiteProps(id=1254120460866740450, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1254120112211026122, code=themeStyle, value=null, createTime=1776935218302, updateTime=1776935218302, creator=18614031015, updator=18614031015)])], journalTitle=船舶工程, weixinUrl=null, journalUrl=https://canb.cbpt.cnki.net/, iacademicId=null, status=1, seqNo=null, journalTitleEn=Ship Engineering, journalPhotoCn=QKJ1ucT0kzxRg7hefG2stg==, journalPhotoEn=UzflOrLQeqsEnDwsbex92A==, journalFirstLetter=S, journalRecommend=null, journalNew=null, journalCollection=null, jcrJf=null, cjcrJf=null, jcrJfStr=null, cjcrJfStr=null, submissionFirstDecision=null, sciSubjectClassification=null, casSubjectClassification=null, citeScore=null, totalCitationFrequency=null, icpCode=null, psCode=null, advertisingLicenseCode=null, copyrightInformation=null, country=null, option=, provinceCode=null, provinceName=null, collectFlag=false), detailUrlCn=https://castjournals.cast.org.cn/joweb/cbgc/CN/10.13788/j.cnki.cbgc.2026.03.Z1, detailUrlEn=https://castjournals.cast.org.cn/joweb/cbgc/EN/10.13788/j.cnki.cbgc.2026.03.Z1, pdfUrlCn=https://castjournals.cast.org.cn/joweb/cbgc/CN/PDF/10.13788/j.cnki.cbgc.2026.03.Z1, pdfUrlEn=https://castjournals.cast.org.cn/joweb/cbgc/EN/PDF/10.13788/j.cnki.cbgc.2026.03.Z1, aliStartDate=null, aliEndDate=null, collectionFlag=false, citedCount=null, citedUrl=null, reference=null)
收藏切换
无人船艇自主航行决策控制技术综述与展望
收藏切换
PDF下载
吕世兴 1 , 杨浩成 1 , 耿林 1 , 吴诗迪 1 , 韩森 1 , 周利 2
船舶工程 | 专题：智能船舶 2026,48(3): Z10-Z28
收起
收藏切换
船舶工程 | 专题：智能船舶 2026, 48(3): Z10-Z28
无人船艇自主航行决策控制技术综述与展望
全屏
吕世兴1, 杨浩成1, 耿林1, 吴诗迪1, 韩森1, 周利2
作者信息
  • 1．江苏科技大学船舶与海洋工程学院，江苏镇江　212100
  • 2．上海交通大学船舶海洋与建筑工程学院，上海　200240
A Review and Prospect of Autonomous Navigation Decision and Control Technology for Unmanned Surface Vehicles
Shixing LYU1, Haocheng YANG1, Lin GENG1, Shidi WU1, Sen HAN1, Li ZHOU2
Affiliations
  • School of Naval Architecture and Ocean Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, Jiangsu, China
  • School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
出版时间: 2026-03-25 doi: 10.13788/j.cnki.cbgc.2026.03.Z1
文章导航
收藏切换
摘要
收起
［目的］

为梳理水面智能无人船艇自主航行决策控制技术的研究现状，厘清不同复杂度场景下的技术瓶颈与发展趋势，

［方法］

系统调研了国内外无人船艇关键技术发展历程。围绕中低复杂度与高复杂度2类应用场景的技术需求差异，分别对路径规划、视线（LOS）制导、自主避碰、自动靠离泊、多智能体协同控制和自主回收等方向展开综述，评述现有技术不足并给出发展建议。

［结果］

分析表明，面向开放水域的自主航行技术已日趋成熟并逐步实现工程化应用，但面向复杂水域和复杂任务的核心技术仍存在发展瓶颈。

［结论］

进一步展望未来，提出应构建面向真实场景的标准化仿真和实船测试评价体系，推动关键技术快速迭代与落地，为我国无人船艇自主航行决策控制技术的发展提供支撑。

无人船艇  /  自主航行  /  决策控制  /  路径规划  /  自主避碰
[Purpose]

To review the current state of research on autonomous navigation decision-making and control technologies for intelligent unmanned surface vehicles, and to clarify the technical bottlenecks and development trends under scenarios of varying complexity,

[Method]

a systematic investigation is conducted into the development history of key technologies for unmanned surface vehicles both domestically and internationally. It review addresses the differing technical requirements between low-to-medium complexity and high-complexity application scenarios, covering path planning, line-of-sight guidance, autonomous collision avoidance, automatic docking and undocking, multi-agent cooperative control, and autonomous recovery. It evaluates existing technological shortcomings and provides recommendations for future development.

[Result]

Analysis indicates that autonomous navigation technology for open waters has matured and is gradually being implemented in engineering applications. However, core technologies for complex waters and complex missions still face developmental bottlenecks.

[Conclusion]

Looking further ahead, we propose establishing a standardized simulation and real-vessel testing evaluation system tailored to real-world scenarios. It will accelerate the rapid iteration and implementation of key technologies, thereby supporting the advancement of autonomous navigation decision-making and control technologies for unmanned surface vehicles in China.

unmanned surface vehicle  /  autonomous navigation  /  decision and control  /  path planning  /  autonomous collision avoidance
吕世兴, 杨浩成, 耿林, 吴诗迪, 韩森, 周利. 无人船艇自主航行决策控制技术综述与展望. 船舶工程, 2026 , 48 (3) : Z10 -Z28 . DOI: 10.13788/j.cnki.cbgc.2026.03.Z1
Shixing LYU, Haocheng YANG, Lin GENG, Shidi WU, Sen HAN, Li ZHOU. A Review and Prospect of Autonomous Navigation Decision and Control Technology for Unmanned Surface Vehicles[J]. Ship Engineering, 2026 , 48 (3) : Z10 -Z28 . DOI: 10.13788/j.cnki.cbgc.2026.03.Z1
基金
收起
  • 国家自然科学基金(52401381)
2026年第48卷第3期
PDF下载
59
12
引用本文
BibTeX
文章信息
doi: 10.13788/j.cnki.cbgc.2026.03.Z1
  • 首发时间：2026-04-24
  • 出版时间：2026-03-25
补充材料
相关文章
文章信息
作者
出版历史
基金
国家自然科学基金(52401381)
作者信息
    1．江苏科技大学船舶与海洋工程学院，江苏镇江　212100
    2．上海交通大学船舶海洋与建筑工程学院，上海　200240
参考文献
分享链接
https://castjournals.cast.org.cn/joweb/cbgc/CN/10.13788/j.cnki.cbgc.2026.03.Z1
分享至
全文二维码

扫描看全文

引用本文
BibTeX
本文的引用情况
2种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
关闭全屏
相关链接
论文
最新文章
热读文章
热点专题
内参
蓝皮书
产业发展报告
传播力报告
期刊分级目录
资讯
学术新闻
行业新闻
学术会议
行业会议
关于
关于我们
联系我们
北京市海淀区学院南路86号
100081
010-62199257
qkjq@cast.org.cn

中国科学技术协会版权所有 京ICP 备10216604号-4 海淀分局备案 1101084647
科技导报社主办 中国科协信息中心技术支持