Self-propelled particles are commonly found in a large number of planktonic organisms such as bacteria, fungi, and algae in nature, and researchers have taken a long interest in exploring their swimming mechanisms for more than a century. Especially in the past 20 years, with the development of computational fluid dynamics and flow display technology, as well as the need for the design of synthetic self-propelled particles and micro-swimming devices, self-propelled particles have become the forefront and hotspot of current research in the field of fluid mechanics. This paper first introduces the swimming characteristics of common self-propelled particles, leading to a classic “squirmer” type self-propelled particle model. On this basis, a systematic introduction and summary of the theoretical and numerical simulation research of “squirmer” will be conducted. Finally, the main challenges and opportunities faced by the current research will be summarized.

自驱动颗粒普遍存在于自然界的细菌、真菌和藻类等大量浮游生物中，一个多世纪以来，研究人员一直对探索其游泳机制产生了浓厚的兴趣。特别是近20年来，随着计算流体力学和流动显示技术的发展，以及人工合成自航粒子和微游动装置设计的需要，自航粒子已成为当今研究的前沿和热点。流体力学领域的最新研究。本文首先介绍了常见自航粒子的游动特性，提出了经典的“蠕动”型自航粒子模型。在此基础上，对“蠕动器”的理论和数值模拟研究进行系统介绍和总结。最后，总结当前研究面临的主要挑战和机遇。