The Design And Realization Of AUV Swarm Coordination Communication Network

As a high-tech platform of marine exploration and development, AutonomousUnderwater Vehicle has a very broad application prospects, and More and more causes theattention of many countries and regions. Single UUV’s function is too limited to meet thedemand of complicated and variable marine operation. Thus the co-operation multi-UUVsystem gradually becomes a research focus. the reliable and efficient communication betweenAUVs is the basic precondition. But there are low channel bandwidth, high propagation delay,low channel stability, limited node energy and many other difficulties in Underwater acousticcommunication. Therefore, it is important to design an efficient AUV swarm coordinationcommunication network for multi-AUV cooperation system.This paper focuses on the study of the design of the network structure, the AUV swarmcoordinating communication network, network topology generation, route search and thesimulation platform for the AUV coordination communication network. As well as, the testtrials on the communication cycle and the rate of packet loss for acoustic communication areboth accomplished which use TrackLink communication positioning system as physicaltransmission medium.Firstly, the classification of the network layer topology is discussed. The relationshipbetween the energy loss and the number of network communication relay is analyzed, and atopology generation algorithm combining with the factors of energy loss and communicationdelay is designed. Moreover, the effectiveness of the algorithm is verified through thecomparison with ordinary algorithm. Meanwhile, the methods of the appropriate route searchand route maintenance are established.Secondly, based on the study of the protocols for frame structure, error checking, logicallink control and medium access control, the communication protocol on the data link layer forAUV swarm coordination communication network is designed which combines with thecharacteristics of the AUV acoustic transmission. Then a kind of protocol on MAC layerwhich combines with the normal access mode and MACAW access mode is proposedthrough the comparison between the two modes.Finally, base on the TrackLink1500A communication positioning system, the testplatform of the water acoustic communication is built. The water acoustic communication isaccomplished by the positioning access between Transceiver and Transponder. Subsequently,the test for the effectiveness of the communication link is finished as well as the communication cycle and the rate of packet loss for TrackLink system. The solutions for theproblem that the rate of packet loss for TrackLink system is reduced in the period of wateracoustic communication are proposed through the analysis of test results.