考虑电导率和能量的水下电场自适应调整多权值成簇算法

Multi-weight clustering algorithm for adaptive adjustment of underwater electric field considering conductivity and energy

大量小型自主式水下航行器(autonomous underwater vehicle,AUV)组网通信完成合作任务是水下机器人工作的一个重要方向。水下电场通信具有高速率、低延迟等特点,AUV使用水下电场通信能够在短距离内实现稳定高速的通信,但是水下电场通信技术存在通信距离受限和电场强度本身受电导率影响等问题。针对这2个问题,提出一种考虑电导率和能量的水下电场自适应调整多权值成簇算法。首先,采用分簇的思想对大量AUV进行分簇处理,其中,增加副簇首提高簇稳定性并减小更换簇首时的能量消耗,设计网关节点加强网络连通性,实现簇间通信。其次,在选举簇首时,综合考虑节点可用度、通信成本、剩余能量这3个关键参数,达到负载均衡和均衡能耗的目的。最后,针对在网络通信状况差时系统维持簇结构而开销大的问题,根据水体环境电导率和节点剩余能量设计自适应调整策略。通过缩小簇规模等手段降低系统在工作过程中的整体能量消耗,提高网络生命周期。研究结果表明:在不同电导率实验条件下,本算法均能有效延长网络生命周期,提高网络生存时间。通过有无自适应调整策略的对比实验,也证明自适应调整策略起到了一定作用。

A large amount of small autonomous underwater vehicle(AUV)networking communication to complete cooperative task is an important direction of underwater vehicle work.Underwater electric field communication has the characteristics of high speed and low latency.AUV can realize stable and high speed communication in short distance by using underwater electric field communication.However,there are some problems in underwater electric field communication technology,such as limited communication distance and electric field strength itself affected by conductivity.To solve these two problems,an underwater electric field adaptive adjustment multi weight clustering algorithm considering conductivity and energy was proposed.Firstly,clustering idea was used to cluster a large number of AUVs,and sub-cluster head was increased to improve cluster stability and reduce the energy consumption when replacing cluster head.The gateway node was designed to strengthen network connectivity and realize inter-cluster communication.Secondly,In the election of cluster head,three key parameters of node availability,communication cost and residual energy were comprehensively considered to achieve the purpose of load balancing and energy consumption balancing.Finally,to solve the problem of large overhead caused by system maintaining cluster structures in poor network communication conditions,an adaptive adjustment strategy was designed according to conductivity of water environment and residual energy of nodes.Decreasing cluster size can reduce energy consumption and improve network lifetime.The results show that the proposed algorithm can effectively prolong network life cycle and improve network lifetime at different conductivity.The contrast experiments with and without adaptive adjustment strategies also prove that adaptive adjustment strategies play a certain role.