Underwater AUV path forming method based on Dirichlet vertex

Abstract

The invention discloses an underwater AUV path forming method based on Dirichlet vertexes. The method comprises the following steps: 1, generating AUV data collection points of a Dirichlet structure; 2, describing a dominating relation of a Dirichlet vertex to a sensor node; 3, reducing AUV data collection points by adopting a dominating set theory; and 4, obtaining an optimized path. According to the method, the length of a moving path can be reduced on the basis of ensuring complete collection of whole network data, so that the network energy consumption can be reduced, the moving speed of the underwater AUV can be improved, and an optimized path can be formed.

Description

technical field

[0001] The invention belongs to the field of wireless sensor networks, in particular to an underwater AUV path formation method based on Dirichlet vertices. Background technique

[0002] Underwater sensor network data collection has particularities compared with terrestrial sensor network data collection:

[0003] 1. The underwater environment has three-dimensional characteristics;

[0004] 2. The sensor nodes are sparsely arranged, that is, the distance between nodes is usually greater than the communication radius of nodes, and it is difficult to aggregate data through multi-hop routing between nodes.

[0005] 3. For underwater acoustic communication, the energy consumption of node communication mainly depends on the data transmission distance.

[0006] 4. The energy of sensor nodes is limited.

[0007] 5. The underwater environment is highly dynamic.

[0008] The above characteristics make the data collection of underwater sensor networks more complex ...

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