在日益复杂的海洋环境下，为了适应多样的作战任务，无人艇通常以艇群方式协同作业，其中无人艇集群技术近年来发展迅速。文章主要介绍了各国无人艇集群系统发展现状，着重梳理了无人艇集群任务分配、集群编队以及集群避障这三项关键技术的最新发展。最后，对无人艇集群协同控制的研究方向和未来趋势进行总结和展望。

In order to adapt to various combat tasks in the increasingly complex marine environment, unmanned surface vehicles usually operate cooperatively in a group mode, among which unmanned surface vehicles formation control has developed rapidly in recent years. The present paper reviews the development of unmanned surface vehicle structures presently, and discusses the latest research of three key technologies, i.e., unmanned surface vehicles tasks assignment, formation control and obstacle avoidance. Finally, the research directions and future trends of unmanned vehicle formation control are summarized and prospected.