Multi-AUV high-efficiency data collection method in underwater sensing network based on SOM

Abstract

The invention discloses a multi-AUV high-efficiency data collection method in an underwater sensing network based on SOM. Firstly a multi-AUV task distribution algorithm based on the SOM is presented.According to task description and network input / output angle, factors such as a distance between the AUV and a cluster head, AUV residual energy, sub-network information value and sub-network data flow are comprehensively considered. Through excellent clustering analysis capability of the SOM, a studying competition function which accords with an actual requirement is designed so that reasonabledistribution of the multiple AUVs in a self-organizing manner can be realized on the condition of a large number of tasks, thereby equalizing AUV energy and reducing time delay in data collection. Then an improved ant colony algorithm is presented for a single-AUV path planning problem. Through adding an adaptability factor and an adjusting operator in a pheromone updating process, local optimum of the ant colony algorithm in an iteration process is prevented, and a better AUV path can be found more easily in higher speed, thereby improving searching efficiency.

Description

technical field [0001] The invention belongs to the technical field of underwater wireless sensor network data collection, in particular to a multi-AUV efficient data collection method in an SOM-based underwater wireless sensor network. Background technique [0002] Underwater wireless sensor network is a sensor network that deploys nodes underwater or on the water surface. Although some uncontrollable environmental factors in the water have caused interference to the deployment and application of the network, it cannot be denied that it has the potential to monitor the underwater environment. , Mineral resource detection, underwater target tracking, mine detection and auxiliary navigation and other aspects have an inestimable role. If a worker wants to do a good job, he must first sharpen his tools. There are many research directions for underwater wireless sensor networks, which can be roughly divided into data collection, node positioning, network topology control, securi...

AI Technical Summary

Problems solved by technology

[0004] (2) Node energy is limited

Nodes deployed underwater are constrained by cost and volume, and cannot carry large-capacity batteries. They can only be powered by their own small-capacity batteries or self-charged by using the natural environment;

[0005] (3) Low communication bandwidth

Affected by water currents and sea winds, the position of the sensor is dynamically changing and has uncertainty. It is difficult to ensure that the data transmission link is always connected and reliable, and there are often some sub-networks that cannot communicate.

Images