Underwater robot oriented underwater communication method

Abstract

The invention provides an underwater robot oriented underwater communication method. The underwater robot oriented underwater communication method comprises the steps of building an underwater robot oriented underwater communication network topology and an underwater communication network protocol; detecting whether an electric field signal exists in communication between the underwater robots by utilizing an underwater communication network channel detecting device based on the underwater robot oriented underwater communication network topology and the underwater communication network protocol; detecting the channel state by an underwater electric field communication data link layer designed based on a CSMA/CA (Carrier Sense Multiple Access with Collision Avoidance) protocol before an underwater robot requests to send data; after determining that the channel is idle, sending data in time; and if the channel is busy, entering a random back-off process, wherein the random back-off process is designed by adopting a truncated binary exponential back-off algorithm. The underwater robot oriented underwater communication method has the advantages of high reliability, high accuracy in channel state detection, convenience in node increase and decrease, low communication interference, good environment adaptability, compact volume and etc.

Description

Technical field [0001] The invention relates to the technical field of underwater communication, in particular to an underwater communication method for underwater robots. Background technique [0002] With the continuous consumption of land resources, the development of the ocean has more and more special strategic status and military value. If an underwater communication network can be established in the sea, it will bring deeper changes to the country's military and economy. At the same time, if multiple robots in the water can communicate with each other, multi-robot collaboration can be realized, and complex tasks that are difficult for a single robot to complete through the formation of robots can improve work efficiency. [0003] However, compared with terrestrial and space communications, the level of development of communications networks in the ocean is still lagging behind. Especially for small underwater robots with limited energy and volume, an effective underwater co...

AI Technical Summary

Problems solved by technology

For example, radio communication methods that have been very developed in land and space are almost impossible to work underwater due to serious attenuation; and underwater acoustic communication has high environmental noise, large Doppler frequency shift and multipath effects, etc. Problem, if you want to apply this method to small underwater robots, you will also face the problems of large communication equipment and high energy consumption; optical communication has high requirements on water quality and cannot be applied in turbid water

Although these underwater communication methods can meet the requirements of underwater communication under certain conditions, they have their own defects in the application of communication methods in small underwater robots.

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