Multi-AUV (Autonomous Underwater Vehicle) cooperative data collection algorithm based on Q-learning in UASNs (Unified Avian Service Networks)

Abstract

The invention discloses a multi-AUV cooperative data collection algorithm based on Q-learning in UASNs, and the algorithm comprises the following steps: selecting a cluster head according to a certaincondition, adding other nodes to the cluster head nearby in a self-adaptive manner, and forming a node cluster; performing AUV task allocation based on an improved contract network algorithm; and performing path planning based on a Q-learning algorithm, and completing data collection by the AUV according to the planned path. According to the invention, reasonable task allocation is carried out ona plurality of AUVs, so that the task completion efficiency of the AUVs is improved, and the data collection delay is reduced; during data collection, the information level of the data packet is considered, and the emergency data is preferentially collected, so that rapid and effective processing of the emergency data is realized; the AUV is subjected to path planning by using Q-learning, so thatthe sailing distance and the energy consumption of the AUV are reduced.

Description

technical field [0001] The invention belongs to the field of underwater acoustic sensor networks, in particular to a multi-AUV cooperative data collection algorithm based on Q-learning in UASNs. Background technique [0002] Underwater acoustic sensor network is an emerging and promising network technology, which can be widely used in underwater applications, such as underwater environment observation, coastline monitoring and protection, disaster prevention, auxiliary navigation and mine detection, etc. In recent years, the underwater wireless sensor network has attracted more and more attention from marine researchers because of its wide application and many advantages. It can help humans perceive and monitor the vast unexplored marine environment, monitor and warn marine disasters. The occurrence of marine resources provides important information and support for the exploration, utilization and protection of marine resources. [0003] As one of the foundations of UASNs, ...

AI Technical Summary

Problems solved by technology

[0009] Using a single AUV for data collection is suitable for small-scale networks. When the network scale increases, it is easy to generate large data collection delays.

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