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

A wireless optical communication and neighbor discovery technology, applied in wireless communication, transmission system, optical fiber radio, etc., can solve the problems of long towed antenna, inability to communicate in real time, high energy consumption, etc., achieve strong anti-interference performance, long transmission range, The effect of high data rates

Active Publication Date: 2019-10-25
XIAN UNIV OF TECH
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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

Method used

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

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Embodiment

[0034] First, define the parameters in the present invention:

[0035] 30 underwater robots, 5 token setting parameters, pre-specified time A = 1 minute, number of transmissions L = 3, backoff time V = 100ms, data transmission rate 100kbps, effective communication distance 30 meters, latitude / longitude scanning The period is 10ms, request information frame, response information frame and confirmation information frame structure. Set timer T1 and T2 in addition, be used for waiting time timing, waiting time T1=T2=500ms;

[0036] In this embodiment, nodes A, B, and C of the underwater robot are selected as examples to describe the neighbor discovery process, where Q is the node that initiates neighbor discovery, S is the node that receives information, and Z node is the node that initiates neighbor discovery, such as figure 2 shown;

[0037] Step 1: Randomly select 5 nodes among all nodes to hold tokens in advance, and then keep the number of tokens unchanged; in order to ensure...

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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 ...

Claims

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Application Information

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IPC IPC(8): H04B10/116H04B10/2575H04B13/02H04W40/24H04W74/00H04W74/08
CPCH04B10/116H04B10/25752H04B13/02H04W40/246H04W74/002H04W74/085Y02D30/70
Inventor 赵太飞王晶梁浩范亚臣李星善
Owner XIAN UNIV OF TECH
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