多水下机器人编队通信研究

Research on Multiple Autonomous Underwater Vehicles Formation Communication

针对多水下机器人编队控制中的水下无线通信问题,提出了一种基于调度的水下无线环状媒介访问控制协议,克服了由于多跳带来的隐藏终端和暴露终端的问题,保证了系统通信的公平接入和周期性控制,同时通过采用数据包捎带技术,在数据包中携带令牌信息,减少额外发送令牌控制包等方法来提高系统吞吐量。N S仿真软件上的仿真实验分析了新协议的性能,通过与类似ALOHA的基于竞争协议的对比实验确定新协议的使用范围,验证了上述媒介访问控制协议的有效性和可行性。

In view of underwater wireless communication problem of multiple autonomous underwater vehicles formation, a kind of medium-access control protocol which is based on deployment underwater wireless token ring medium-access-control protocol is proposed. The new protocol overcomes hide terminal and exposure terminal problems brought by multiple jumps and assures the fair accessing and periodically controlling of communication channel. At the same time, data packet incidental technology which carries token information in data packet is adopted to reduce extra token control packet and to raise the system throughput. Many experimtents are carried out to contrast the new protocol with the ALOHA-like protocol on network simulator software （NS） and to analyze the performance of the new protocol. The experiments determined the application scope of the new protocol and shown that the new protocol is effective and feasible.