Multi-underwater robot communication-oriented energy-saving routing method

Abstract

The invention provides a multi-underwater robot communication-oriented energy-saving routing method. The method comprises three main links of route searching, route restoring and route maintenance and particular comprises the following steps of: judging whether routing exists between two robot nodes or not; if yes, judging whether a broken link exists in the routing or not, and otherwise, selecting and searching the routing between the two robots by a link life time limit-based route searching algorithm; if the broken link exists in a network, performing route restoring by an energy-saving route restoring algorithm; if the broken link does not exist in the network, detecting whether better routing exists or not by an algorithm, if yes, updating the current routing by an energy-saving route maintenance algorithm, and otherwise, judging whether a task ends up or not; and if the task ends up, finishing the process. The multi-underwater robot communication-oriented energy-saving routing method is applied to a multi-underwater robot system. The multi-underwater robot communication-oriented energy-saving routing method has the advantages of taking energy of communication into direct consideration in the steps of route researching, route restoring and route maintenance, greatly saving the energy and the response time of underwater robot communication and guaranteeing that the underwater robot task can be performed successfully.

Description

technical field [0001] The invention relates to an underwater communication method, in particular to an energy-saving routing method oriented to the communication of multiple underwater robots. Background technique [0002] The study of underwater acoustic communication network began in the 1990s. In the past two decades, underwater acoustic communication technology has made great progress, and its application field has gradually expanded to the commercial field. [0003] In the early 1990s, the American Self-Organizing Sampling Networks (AOSNs) took the lead in proposing the concept of "underwater acoustic network", and used the Seaweb plan for practice and verification, and soon confirmed the feasibility of using acoustics for underwater networking, and derived A series of underwater acoustic network plans and applications have been developed. For example, the FRONT coastal continental shelf monitoring plan and the distributed DADS coastal military anti-war plan have ful...

AI Technical Summary

Problems solved by technology

The development of science and technology has improved the bit rate and reliability of underwater acoustic communication, thus realizing point-to-point real-time communication. However, the underwater acoustic communication network is far more useful and complex than pure point-to-point communication.

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