| 摘要: |
| 随着科学技术的高速发展，地下领域（如天然洞穴网络、人造隧道和城市地下环境等）逐渐成为人类研究的热点，利用无人系统在地下等复杂场景执行探索、搜索与搜救等任务仍面临着许多挑战。深入分析了美国地下领域无人系统技术发展的模式框架，梳理了快速轻量自主、机械天线和地下挑战赛等DARPA典型研发项目的研究目标与现状，提炼出地下领域无人系统需要解决的关键技术，在此基础上归纳总结了美国地下领域无人系统的发展趋势。最后，结合国内发展情况提出了地下领域无人系统的发展启示。 |
| 关键词: 地下 无人系统 快速轻量自主 机械天线 地下挑战赛 |
| DOI： |
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| 基金项目:航空科学基金（20175877011） |
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| Development and Enlightenment of Unmanned Underground System in the United States |
| LI Xin-nian,LI Qing-hua,WANG Chang-hong,WANG Zhen-huan,WEN Fan,WANG Zhen-wei |
| (Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China) |
| Abstract: |
| With the development of science and technology, the underground field (such as natural cave networks, human-made tunnels, and urban underground environments) has become one research hotspot of humans. Many challenges must be solved to perform tasks like exploration, search, and rescue which are implemented by unmanned systems in the complex environment. Consequently, the development model framework of U.S. unmanned underground systems is analyzed deeply in this paper. The research goals and results of the typical projects, such as Fast Lightweight Autonomy（FLA）, A MEchanically Based Antenna（AMEBA）, and Subterranean Challenge(SubT), supported by DARPA are sorted out. The key technologies of underground unmanned systems that need to be solved are summarized. The development trend of unmanned underground systems is generalized. Enlightenments are provided with consideration of the actual situation of our country. |
| Key words: Underground Unmanned systems Fast lightweight autonomy A mechanically based antenna Subterranean challenge |
