面向大范围、长时间的ASV/AUV协同作业任务，本项目立足于“节能”思想，深入研究复杂海洋环境下异构ASV/AUV编队协同节能控制策略。探索层次化网络拓扑结构设计及动态自组织重构策略，提高协同控制体系的抗毁性和层次化知识利用能力。研究弱连通条件下的连通性保持控制方法，以避免出现编队网络拓扑结构断裂和个体之间碰撞。基于生物群集运动启发，分析推进作用下航行器载体间流场影响机理，利用CFD方法探索能耗最小的编队队形节能优化策略。构建面向队形控制和队形变换的最小能耗分布式协同制导算法，研究对复杂海洋环境具有强适应性的抗干扰控制方法以及综合考虑个体和集群运动约束条件的集群避障策略，建立合理高效的异构协同任务协调机制，实现编队安全可靠航行。通过基于水声+无线电通讯的异构ASV/AUV编队实体样机实验验证理论方法的可行性和有效性，为实现ASV/AUV协同作业奠定理论基础和技术支撑。

For large-scale and long-time ASV/AUV cooperative work, based on the thought of "energy saving", the project propose cooperative energy saving control strategies for the heterogeneous ASV/AUV formation under complicated ocean environment. The project explores hierarchical network topology design and dynamic self-organization reconstruction strategy, which improves the survivability of cooperative control system and the ability of hierarchical knowledge utilization. The connectivity control method under weak connected condition is studied to avoid the formation network topological structure fracture and collision among individuals. Based on the inspiration of biological cluster motion, the influence mechanism of flow field among vehicles under propulsion is analyzed, and the formation optimization strategy with minimum energy consumption is explored by CFD. The minimum energy consumption distributed cooperative guidance algorithms for formation control and formation conversion are constructed. The anti-interference control method with strong adaptability to complicated ocean environment and the cluster obstacle avoidance strategy considering individual and cluster motion constraints are studied. The project will establish the reasonable and efficient heterogeneous cooperative coordination mechanism to achieve safe and reliable formation navigation. Based on underwater acoustic and wireless communication, the experiments of heterogeneous ASV/AUVs are conducted to verify the feasibility and validity, which provides theoretical basis and technical support for ASV/AUV cooperative work.