|本期目录/Table of Contents|

[1]黄海,李岳明,庞永杰.多水下机器人编队的组网通信方法研究[J].电机与控制学报,2017,21(05):97-104.[doi:10.15938/j.emc.2017.05.013]
 HUANG Hai,LI Yue-ming,PANG Yong-jie.Network communication research for multiple AUV formation[J].,2017,21(05):97-104.[doi:10.15938/j.emc.2017.05.013]
点击复制

多水下机器人编队的组网通信方法研究(PDF)
分享到:

《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
21
期数:
2017年05
页码:
97-104
栏目:
出版日期:
2018-04-20

文章信息/Info

Title:
Network communication research for multiple AUV formation
作者:
?黄海 李岳明 庞永杰
?( 哈尔滨工程大学水下机器人技术重点实验室,黑龙江哈尔滨150001)
Author(s):
?HUANG Hai LI Yue-ming PANG Yong-jie
?( National Key Laboratory of Technology of Autonomous Underwater Vehicles,Harbin Engineering University, Harbin 150001,China)
关键词:
水下机器人 编队航行 组网通信 水声通信 MAC 协议
Keywords:
underwater vehicles formation cruising network communication acoustic communication MAC protocol
分类号:
TP 24
DOI:
10.15938/j.emc.2017.05.013
文献标志码:
A
摘要:
使用水下机器人组网编队可以在更开阔的海域完成环境信息收集、区域搜索与快速环境感知等使命。为提高编队通信效率,研究了水声通信条件下多水下机器人组网通讯的方法。在多水下机器人的分层通信结构中,基于拓扑网络结构建立了信道传输模型。根据传输模型,对于距离领
航员AUV 节点较远而距离其他跟随AUV 较近的节点采用线性拓扑传输方式,而对于其他AUV 节点采用一对多竞争拓扑传输方式。在线性拓扑传输的自适应MAC 协议中,领航员AUV 和所有的跟随AUV 通过广播与应答的方式实现时间同步,之后跟随AUV 节点根据距离领航员AUV 和数据
传输的效果选择负责外围节点的通信或休眠,这就降低了领航AUV 的能量消耗,提高了整个AUV 编队组网的生存时间。而一对多竞争的自适应MAC 协议包含了一种改进的握手机理,该协议可以降低传输的丢包率并提高网络的吞吐量。与AUV 编队结合的通信仿真表明了该方法的先进性和有效性。
Abstract:
In order to improve communication efficiency,hydroacoustic network communication was researched. In the hierarchical communication structure, transmission model of the acoustic channel was esablished on the basis of network topology. Acorrding to the model, linear topology communication was applied for the objective AUV far away from leader AUV but closer to other AUVs,while a one to many contending topology communication was applied for other AUVs. In the adaptive MAC protocol of linear topology, leader AUV sends time synchronize packets to others through broadcast, then objective nodes decide the communication or sleep off external nodes according to the distance of leader AUV as well as the effect of data transmission,which reduce the energy consumption of leader AUV and improve survival lifetime for the whole AUV network communication. On the other hand,one-to-many contention based adaptive MAC protocol includes an improved handshaking mechanism,which can reduce packets loss rate and improve throughput of the network. Simulations with multi-AUV formation illustrate advancement and effectiveness of the research.

参考文献/References:

-

相似文献/References:

[1]梁霄,张均东,李巍,等.水下机器人T-S型模糊神经网络控制[J].电机与控制学报,2010,(07):99.
 LIANG Xiao,ZHANG Jun-dong,LI Wei,et al.T-S fuzzy neural network control for autonomous underwater vehicles[J].,2010,(05):99.
[2]刘云龙,高存臣,任启峰,等.水下机器人基于sigmoid函数的软变结构控制[J].电机与控制学报,2012,(02):90.
 LIU Yun-long,GAO Cun-chen,REN Qi-feng,et al.Soft variable structure control based on sigmoid functions for autonomous underwater vehicles[J].,2012,(05):90.
[3]黄海,万磊,庞永杰,等.水下机器人的动态Petri递归神经网络控制方法[J].电机与控制学报,2012,(05):91.
 HUANG Hai,WAN Lei,PANG Yong-jie,et al.Dynamic underwater robot recurrent neural network control with Petri-threshold[J].,2012,(05):91.
[4]邓薇,韩端锋,纠海峰. 基于嗅觉的水下机器人化学羽状物追踪定位方法[J].电机与控制学报,2016,20(01):110.[doi:10. 15938 /j. emc. 2016. 01. 017]
 DENG Wei,HAN Duan-feng,JIU Hai-feng. Chemical plume tracing and localization method based on olfaction for underwater [J].,2016,20(05):110.[doi:10. 15938 /j. emc. 2016. 01. 017]

备注/Memo

备注/Memo:
收稿日期: 2016 - 02 - 15
基金项目: 国家自然科学基金( 5129050,51579053,61633009)
作者简介: 黄海( 1978—) ,男,博士,副教授,研究方向为水下机器人技术;
李岳明( 1983—) ,男,博士,讲师,研究方向为水下机器人控制技术;
庞永杰( 1955—) ,男,教授,研究方向为水下机器人。
更新日期/Last Update: 2017-08-24