Multi-auv efficient data collection method in underwater sensor network based on SOM

Abstract

The invention discloses a multi-AUV high-efficiency data collection method in an SOM-based underwater sensor network. First, a SOM-based multi-AUV task allocation algorithm is proposed. From the perspective of task description and network input and output, AUVs are considered comprehensively. The distance from the cluster head, AUV remaining energy, sub-network information value, sub-network data flow and other factors, through the superior clustering analysis ability of SOM, design a learning competition function that meets the actual requirements, so that when multiple AUVs are faced with a large number of tasks, they can Self-organized and reasonable distribution to achieve the effect of balancing AUV energy and reducing data collection delay. Then an improved ant colony algorithm is proposed on the path planning problem of single AUV. By adding adaptive factors and adjustment operators in the process of pheromone update, the ant colony algorithm can be avoided from falling into local optimum in the iterative process, which can be more easily and Find a better AUV path faster and speed up the search 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...

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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.

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