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

Abstract

The wireless optical communication neighbor discovery system of underwater multi-robot formation, including light source LED, the light source is arranged on the surface of the hemisphere according to the warp and latitude direction; the omnidirectional receiver is installed on the top of the hemisphere to form a node structure; each node can send messages independently; underwater A wireless optical communication neighbor discovery method for multi-robot formation, the steps are: select K nodes to hold tokens; nodes holding tokens send request information frames; neighbor nodes send response information frames after receiving the request information frames; token After the holding node sends the request information frame, start the timer T 1 , judging the arrival information; the neighbor node starts the timer T after sending the response information frame 2 , and judge the confirmation information; if the response information is not received, the discovery is over; if the response information is received, the confirmation information frame is sent; after the neighbor discovery of the token holding node is completed, the token is transmitted to the neighbor node; the neighbor discovery is completed; the transmission range Longer, higher data rate, strong anti-interference performance, low energy consumption.

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 underwater multi-robot formation. Background technique [0002] Underwater information transmission, reconnaissance and monitoring are the most basic means of exploring the ocean and grasping the information of the sea area. Stable and good communication network technology is crucial for the cooperation between underwater robots. The 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 requires a long towed antenna, and...

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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