Voi-based efficient data collection method for multiple Auvs in underwater wireless sensor networks

Abstract

The invention discloses a multi-AUV efficient data collection method based on VOI in an underwater wireless sensor network, which comprises the following steps: (1) a high VOI data packet is transmitted to a cluster head firstly; (2) The determination of moving Sink position and the division of space region in 3D underwater environment; (3) Path planning of AUV in sub-region; (4) Multiple AUVs compete dynamically to handle emergent tasks. By utilizing the spatial distribution characteristics of multiple AUVs and the characteristics of resource distribution, It can effectively solve the complexdata collection task in underwater wireless sensor networks. The multi-AUV data collection method has good fault tolerance and improve the system robustness. Its advantages of high reliability and low latency are not possessed by a single AUV system. Combined with AUV path planning, the three-dimensional underwater area division adopts multi-AUV dynamic competition mechanism to deal with emergencies and collect network data dynamically, which balances the network energy consumption and prolongs the network lifetime.

Description

technical field [0001] The invention belongs to the technical field of multi-AUV data collection for underwater wireless sensor networks, in particular to a VOI-based efficient data collection method for multi-AUVs in underwater wireless sensor networks. Background technique [0002] The nodes in the underwater wireless sensor network are randomly deployed in the monitoring area that the application system is interested in, and the nodes form an underwater wireless sensor network through self-organization. To perform data collection tasks in an underwater environment, at least three modules are required: a common sensor node, a sink node (Sink) and a task management center. Ordinary nodes can use acoustic communication to send the perceived data to the sink through multi-hop, or use the cluster head to collect the data of nodes in the cluster through the clustering mechanism, and then send it to the sink through inter-cluster multi-hop. Sink sends the aggregated information...

AI Technical Summary

Problems solved by technology

Since the underwater environment is not a static environment, it is impossible to plan specific regional boundaries, and it is difficult to control the size of the underwater wireless sensor network.

At the same time, the sensing range and data transmission range of ordinary nodes are limited, and a large number of sensor nodes need to be deployed in the environment;

[0005] (2) Node energy is limited

Nodes deployed underwater are constrained by cost and volume. The power of nodes can only be provided by batteries, and it is difficult to replace batteries and replenish power.

The node will die when its energy is exhausted, which will easily lead to imperceptible routing holes and affect the performance of the network;

[0006] (3) Underwater acoustic signal attenuation is serious

This characteristic greatly limits the selectable frequency of underwater communication, which inevitably brings problems of high delay and low transmission success rate;

[0007] (4) Node positioning problem

Different from land sensor nodes, due to the influence of water current and sea wind, the position of underwater sensors is dynamic and uncertain, and it is difficult to locate by GPS. However, the positioning method based on acoustic signals has low accuracy and takes too long. question

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