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Self-adaptive networking communication method of underwater vehicle

A technology of underwater robot and communication method, applied in the directions of adaptive control, instrument, general control system, etc., can solve the problem of tracking performance degradation, and achieve the effect of improving survival time and reducing energy consumption

Active Publication Date: 2016-08-03
HARBIN ENG UNIV
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  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

A communication device and method for collaborative control of underwater robots belongs to the same technical field as this patent, but it mainly completes signal detection, grouping and encoding through aquatic communication devices, and solves communication range and bandwidth constraints through cooperative control methods Caused tracking performance degradation

Method used

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  • Self-adaptive networking communication method of underwater vehicle
  • Self-adaptive networking communication method of underwater vehicle
  • Self-adaptive networking communication method of underwater vehicle

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Embodiment Construction

[0032] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0033] The purpose of the present invention is to provide an adaptive networking communication method for underwater robots, which can be used for data exchange of underwater robot networking at the data link layer to achieve reasonable allocation of channel resources through medium access control, thereby realizing data in adjacent Links between nodes transmit without errors. The invention has the advantages of flexible use, strong adaptability and the like.

[0034] The purpose of the invention is achieved as follows:

[0035] a. First, establish a hierarchical communication structure for underwater robot networking. The structure includes physical layer, data link layer and network layer. Among them, the physical layer is the bottom layer of the underwater acoustic communication module. It mainly adopts the multi-channel underwater communication system Aq...

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Abstract

The invention discloses a self-adaptive networking communication method of an underwater vehicle. According to the relative distance between AUV nodes, a linear topological transmission mode is adopted for the nodes which are away from a pilot AUV node and close to other following AUV, and a one-to-many competition topological transmission mode is adopted for other AUV nodes. In the linear topological transmission process, the pilot AUV and all the following AUV realize time synchronization through a broadcast and response mode, and then the nodes select to be responsible for communication or sleep of the peripheral nodes according to the distance to the pilot AUV and the data transmission effect so that energy consumption of the pilot AUV can be reduced and survival time of the whole AUV formation networking can be enhanced. The one-to-many competition self-adaptive communication method includes a four-way handshake transmission method. The packet loss rate of transmission can be reduced and throughput of the network can be enhanced by the self-adaptive networking communication method.

Description

technical field [0001] The invention belongs to the field of underwater robot communication, and in particular relates to an adaptive networking communication method of an underwater robot. Background technique [0002] Autonomous underwater vehicles (AUV) can be widely used in military affairs for water area reconnaissance, relay communication, regional mine detection, intelligent attack, etc. In terms of civil use, it can be used for exploration of seabed biological resources, sampling of mineral resources, survey of seabed topography, salvage of sunken objects, monitoring of seismic and geothermal activities, monitoring of marine environment, etc. [0003] The collaboration of multiple AUVs can improve work efficiency and provide redundancy in the event of a failure of a certain AUV. Using the cooperation of multiple small AUVs that are relatively cheap and simple in construction to complete complex underwater tasks has better performance than using one large AUV that is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 黄海张国成李岳明席红艳万磊庞永杰
Owner HARBIN ENG UNIV
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