Wireless optical communication neighbor discovery system and method for underwater multi-robot formation

Abstract

A wireless optical communication neighbor discovery system for underwater multi-robot formation comprises light source LEDs which are arranged on the surface of a hemisphere in the longitude and latitude directions. An omnidirectional receiver is mounted at the top of the hemisphere to form a node structure, and each node can independently send messages. A wireless optical communication neighbor discovery method for an underwater multi-robot formation comprises the following steps: selecting K nodes to hold tokens; the node with the token sending a request information frame; after the requestinformation frame is received, sending, by the neighbor node, a response information frame; after the token holding node sends the request information frame, starting a timer T1, and determining arrival information; starting a timer T2 after the neighbor node sends the response information frame, and determining confirmation information; if the response information is not received, ending the discovery; if the response information is received, sending an acknowledgement information frame; after the neighbor discovery of the token holding node is completed, transmitting the token to the neighbor node; and completing neighbor discovery. The transmission range is relatively long, the data rate is relatively high, the anti-interference performance is strong, and the energy consumption is low.

Description

technical field [0001] The invention belongs to the technical field of underwater wireless optical communication, and in particular relates to a wireless optical communication neighbor discovery system and method for an underwater multi-robot formation. Background technique [0002] Underwater information transmission, reconnaissance and monitoring are the most basic means of exploring the ocean and mastering sea area information. Stable and good communication network technology is crucial for the cooperation between underwater robots. Existing communication methods include underwater acoustic communication, radio communication and wireless optical communication. Sound waves have many limitations in water, such as strong attenuation, high energy consumption, and large volume, and are not suitable for communication between underwater robots. The radio communication method mainly adopts very low frequency communication. This method must use a very long towed antenna, and the ...

AI Technical Summary

Problems solved by technology

Sound waves have many limitations in water, such as strong attenuation, high energy consumption, and large volume, and are not suitable for communication between underwater robots.

The radio communication method mainly adopts very low frequency communication, which needs to use a very long towed antenna, and the communication rate is slow, so it cannot communicate in real time

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