scholarly journals Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network

2013 ◽  
Vol 2013 ◽  
pp. 1-15 ◽  
Author(s):  
Yueyue Deng ◽  
Pierre-Philippe J. Beaujean ◽  
Edgar An ◽  
Edward Carlson
Keyword(s):  
Path Planning ◽  
Acoustic Communication ◽  
Task Allocation ◽  
Mobile Ad Hoc Network ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Task Assignment ◽  
Underwater Acoustic Communication ◽  
Underwater Acoustic ◽  
Network Bandwidth

Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV) missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for the task allocation and path planning for multiple AUVs under marginal acoustic communication conditions: a location-aided task allocation framework (LAAF) algorithm for multitarget task assignment and the grid-based multiobjective optimal programming (GMOOP) mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment. Our research is based on an existing mobile ad hoc network underwater acoustic simulator and blind flooding routing protocol. Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities. This is in contrast to existing multiobjective action selection methods that are limited to networks where constant, reliable communication is assumed to be available.

scholarly journals Parallel Resampling of OFDM Signals for Fluctuating Doppler Shifts in Underwater Acoustic Communication

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Shingo Yoshizawa ◽  
Takashi Saito ◽  
Yusaku Mabuchi ◽  
Tomoya Tsukui ◽  
Shinichi Sawada
Keyword(s):  
Conventional Method ◽  
Acoustic Communication ◽  
Orthogonal Frequency Division Multiplexing ◽  
Carrier Frequency Offset ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Error Rates ◽  
Underwater Acoustic Communication ◽  
Underwater Acoustic ◽  
Parallel Resampling

Reliable underwater acoustic communication is demanded for autonomous underwater vehicles (AUVs) and remotely operated underwater vehicles (ROVs). Orthogonal frequency-division multiplexing (OFDM) is robust with multipath interference; however, it is sensitive to Doppler. Doppler compensation is given by two-step processing of resampling and residual carrier frequency offset (CFO) compensation. This paper describes the improvement of a resampling technique. The conventional method assumes a constant Doppler shift during a communication frame. It cannot cope with Doppler fluctuation, where relative speeds between transmitter and receiver units are fluctuating. We propose a parallel resampling technique that a resampling range is extended by measured Doppler standard deviation. The effectiveness of parallel resampling has been confirmed in the communication experiment. The proposed method shows better performance in bit error rates (BERs) and frame error rates (FERs) compared with the conventional method.

AUV with Variable Vector Propeller

2000 ◽  
Vol 12 (1) ◽  
pp. 60-65 ◽  
Author(s):  
Yutaka Nagashima ◽  
◽  
Takakazu Ishimatsu ◽  
Jamal Tariq Mian ◽  
Keyword(s):  
Acoustic Communication ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Logic Circuits ◽  
Underwater Acoustic Communication ◽  
Underwater Acoustic ◽  
Distributed Controller ◽  
Communication Reliability ◽  
Command Signals ◽  
And Control

We developed an autonomous underwater vehicle (AUV) with a distributed controller and underwater acoustic communication. It is compact and lightweight thanks to its variable vector propeller and control using sophisticated logic circuits. Control is very precise using underwater ultrasonic command signals. Experiments showed that the AUV moves along a path at the desired position and azimuth. We confirmed the feasibility of our algorithm for increasing ultrasonic communication reliability.

scholarly journals Underwater Ad-Hoc Networks: A Review

2021 ◽  
Author(s):  
Emil Wengle ◽  
John Potter ◽  
Hefeng Dong
Keyword(s):  
Acoustic Communication ◽  
Ad Hoc ◽  
Autonomous Underwater Vehicle ◽  
Mobile Network ◽  
Open Architecture ◽  
Underwater Acoustic Communication ◽  
Underwater Sensor Networks ◽  
Medium Access ◽  
Underwater Acoustic ◽  
Underwater Networks

Underwater sensor networks have become increasingly interesting in the past four decades. They can be used in a multitude of scenarios, commercial and military alike. Underwater networks can communicate in several ways, but when nodes are far apart, underwater acoustic communication is the only feasible way. The complex underwater acoustic channel puts high demands on the network protocols. The physical layer needs to contend with short coherence times, high intersymbol interference and significant Doppler spread. The routing protocol needs to handle intermittent connectivity and mobile network topologies, such as autonomous underwater vehicle networks. The medium access control protocol needs to manage medium access with high latency and potentially high packet loss ratios without congesting the network. The available acoustic modems are still rather expensive, which limits the size of a sensor network. Voices have also been raised from the academia for a paradigm shift, from hardware-defined, proprietary modems to software-defined, open-architecture modems, in order to accelerate research in the field and enable interoperability. This paper reviews the recent advancements in designing and implementing underwater networks on several levels and discusses some interesting approaches to underwater ad-hoc networking. The focus lies on acoustic communication.<br>

scholarly journals Simulation model for energy consumption and acoustic underwater communication of autonomous underwater vehicles

2021 ◽  
Author(s):  
Peter Danielis ◽  
Helge Parzyjegla ◽  
Mostafa Assem Mohamed Ali ◽  
Frank Sill Torres
Keyword(s):  
Energy Consumption ◽  
Simulation Model ◽  
Acoustic Communication ◽  
Acoustic Waves ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Underwater Acoustic Communication ◽  
Network Simulator ◽  
Underwater Communication ◽  
Underwater Acoustic

AbstractRecently, cooperative autonomous underwater vehicles (AUVs) have been deployed in application areas such as surveillance and protection of maritime infrastructures for inspection and monitoring purposes. These cooperative methodologies require wireless transmission of data between the different AUVs operating in the underwater environment. Communication over ranges exceeding 100 m exclusively relies on underwater acoustic communication. However, the propagating acoustic waves suffer from several challenges due to the presence of path loss, multi-path propagation, the slow and variant propagation speed, background noise, and Doppler distortion. Since the power supply of the AUVs is limited, communication must be very energy efficient and energy constraints have to be known to be able to plan the mission of AUVs. Due to the difficulties of real experiments, the modeling and simulation of the energy consumption and underwater acoustic communication play an essential role in studying and developing these systems. We provide a modular simulation model for the energy consumption and acoustic underwater communication of AUVs implemented in the network simulator OMNeT++ using the INET framework. More specifically, we extend several INET modules in such a way as to reflect the characteristics of AUVs and underwater communication. We study and analyze the AUVs’ energy consumption and dependence of the message quality on different properties such as those mentioned above.

scholarly journals Underwater Ad-Hoc Networks: A Review

2021 ◽  
Author(s):  
Emil Wengle ◽  
John Potter ◽  
Hefeng Dong
Keyword(s):  
Acoustic Communication ◽  
Ad Hoc ◽  
Autonomous Underwater Vehicle ◽  
Mobile Network ◽  
Open Architecture ◽  
Underwater Acoustic Communication ◽  
Underwater Sensor Networks ◽  
Medium Access ◽  
Underwater Acoustic ◽  
Underwater Networks

Underwater sensor networks have become increasingly interesting in the past four decades. They can be used in a multitude of scenarios, commercial and military alike. Underwater networks can communicate in several ways, but when nodes are far apart, underwater acoustic communication is the only feasible way. The complex underwater acoustic channel puts high demands on the network protocols. The physical layer needs to contend with short coherence times, high intersymbol interference and significant Doppler spread. The routing protocol needs to handle intermittent connectivity and mobile network topologies, such as autonomous underwater vehicle networks. The medium access control protocol needs to manage medium access with high latency and potentially high packet loss ratios without congesting the network. The available acoustic modems are still rather expensive, which limits the size of a sensor network. Voices have also been raised from the academia for a paradigm shift, from hardware-defined, proprietary modems to software-defined, open-architecture modems, in order to accelerate research in the field and enable interoperability. This paper reviews the recent advancements in designing and implementing underwater networks on several levels and discusses some interesting approaches to underwater ad-hoc networking. The focus lies on acoustic communication.<br>

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