98 21 Keywords underwater vehicles formation cruising network communication acoustic communication MAC protocol 0 MAC medium access 1-2 control

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1 Electri c Machines and Control Vol. 21 No. 5 May AUV AUV AUV MAC AUV AUV AUV AUV AUV AUV MAC AUV MAC DOI /j. emc TP 24 A X Network communication research for multiple AUV formation HUANG Hai LI Yue-ming PANG Yong-jie National Key Laboratory of Technology of Autonomous Underwater Vehicles Harbin Engineering University Harbin China 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

2 98 21 Keywords underwater vehicles formation cruising network communication acoustic communication MAC protocol 0 MAC medium access 1-2 control m /s 4-5 ocean observation initiative OOI coordination and control of cooperating heterogeneous unmanned systems in uncertain environments GREX 1 MIT Schmidt AUV 6 - AUV 7 PC104 TCP /IP socket Aquacomm network AUV Aquacomm Innovation in Digital Signal Processing 1 10 OFDMA IEEE / NS2 11 CDMA MODEM / 12

3 5 99 Fig. 1 1 MAUV communication network infrastructur Fig. 2 2 Layered architecture of the communication module C S CD 3 C S D i AUV 6 RTS /CTS q i = x i y i z i θ i ψ i i T q = q T 1 q T 2 q T n T v i i AUV MAC AUV AUV qi = v i { vi = k 0 v i + u i k 0 u i AUV AUV G = V ξ A AUV V = s 1 s 2 s n pi = - γp AUV ξ V V i - a ij q j t - τ ij - q i t - τ ij s j N A = a ij a ij 0 qi = v i s i s j AUVs i AUVs j t vi = k 0 v i + k ξ ij ξ a ij > 0 1 a ij q j t - τ ij - q i t - τ ij + p i s j S Δ G = diag g 1 g 2 g n G Laplacian L G = Δ G - A 1 L G m /s v = C C S D D 2-2

4 k 1 > 0 γ > 0 p i t p i 0 = 0 τ ij s i s j 14 10logAb l f = k 10logl + lα α k N t N s N w N th Ab l N = N t + N s + N w + N th P ( tx ) E = B log Ab l f NB df 3 B P tx 3 Fig. 3 3 MAUV communication network topology 2 MAC AUV 2. 1 MAC AUV AUV AUV MAC RTS Request To Send CTS Clear To Send Data ACK AUV acknowledgment for receiving 4 AUV AUV 4 AUV AUV Fig. 4 4 MAC Adaptive MAC protocol for linear topology transmission AUV AUV 1 AUV RTS RTS node_pos node_ AUV 1 2 speed destination_node AUV

5 5 101 AUV ACK RTS AUV AUV2 AUV ACK CTS 2 RTS AUV Response adjustment 1 CTS 1 T listen = 2 T CTS + T RTS + T Data + T Ack + T SYNC 2 CTS AUV CTS CTS1 /overtime node1_pos node1_speed CTS2 /overtime node2_pos node2_speed MAC CTS 1 2 AUV AUV AUV MAC AUV AUV AUV CTS 1 2 AUV1 AUV Data Response adjustment AUV 2 2 AUV MAC ACK 1 ACK RTS CTS Data ACK Response adjustment Block To Send - BTS AUV2 AUV 1 ACK AUV 1 ACK BTS AUV AUV 1 ACK ACK1 /overtime node1 _ pos node1 _ speed ACK2 /overtime node2 _pos node2 _speed T SYNC T Duty = T listen + T Sleep AUV AUV AUV Response adjustment 5 4 Fig. 5 5 MAC Contention-based adaptive MAC protocol

6 AUV RTS AUV AUV BTS Response adjustment AUV AUV AUV sleep BTS T listen 2T max + CML Data AUV RTS AUV ACK 4 3 AUV CTS NS 15 AUV AUV Response 3 adjustment / RTS NS CTS C + + OTcl T max AUV CML AUV RTS MAC MAC AUV CTS AUV1 AUV CML RTS AUV CTS AUV AUV2 AUV3 AUV4 AUV 6 Data AUV2 AUV3 AUV4 AUV1 CML CTS AUV CML RTS = CML CTS = T max MAC AUV RTS AUV CTS AUV AUV CML AUV AUV CML AUV Response adjustment AUV AUV AUV AUV AUV AUV AUV AUV AUV 7 AUV CTS AUV AUV1 AUV MAC AUV AUV AUV Data Response adjustment AUV ACK Response adjustment AUV ACK

7 第5 期图6 Fig 6 黄海等多水下机器人编队的组网通信方法研究基于线性拓扑的 MAC 协议仿真结果Ｒesults of MAC protocol based linear topology 图7 Fig 基于竞争拓扑的 MAC 协议仿真结果 Simulation results of MAC protocol based contending topology

8 Journal of Field Ro- City UT USA AUV 6 SCHNEIDER T AUV AUV heterogeneous marine sensing networks J AUV botics GHABCHELLO R KAMINER I MAC AGUIAR A. A general framework for multiple vehicle time coordinated path following control C / / 2009 American Control Conference Hyatt Regency St. Louis River- front St. Louis MO AUV 8 JOHNSON Benjamin AUV AUV AUV AUV MAC AUV AUV MAC XU Yuru XIAO Kun. Technology development of autonomous o- cean vehicle J. Acta Automatica Sinica J ZENG Wenjing XU Yuru WAN Lei et al. Robotics vision-based system of autonomous underwater vehicle for an underwater pipeline tracker J. Journal of Shang Hai Jiao Tong University JO O Alves MATTHIAS Schneider. A communication infrastructure for cooperative operation of a fleet of heterogeneous autonomous marine vehicles concepts and developments within the GREX project C / /Oceans 2009 Messe Bremen Bremen Fair 2009 Bremen Germany CAITI Andrea GRYTHE Knut JENSM Hovem et al. Linking a- coustic communications and network performance integration and experimentation of an underwater acoustic network J. IEEE Journal of Oceanic Engineering CHEN Baozhi DARIO Pompili. Quo vadis QoS-aware underwater optimization framework for inter-vehicle communication using a- coustic directional transducers C / /2011 8th Annual IEEE Communications Society Conference on Sensor Mesh and Ad Hoc Communications and Networks Sheraton Salt Lake City Hotel Salt Lake SCHMIDT H. Unified command and control for USA HALLIN Nicodemus LEIDENFROST Hans et al. Collaborative mapping with autonomous underwater vehicles in low-bandwidth conditions C / /Oceans 2009 Europe Messe Bremen Bremen Fair Bremen Germany ANDREW Rajala DEAN Edwards. Allocating AUVs for mine map development in MCM C / /Oceans 2006 Asia Pacific Raffles City Convention Centre Singapore KALWA J RG. The GREX-project coordination and control of cooperating heterogeneous unmanned systems in uncertain environments C / /OCEANS '09 IEEE Bremen Messe Bremen Bremen Fair Bremen Germany MAC D. 1. J J CHEN Xuwei FENG Zhengping. Formation stability of underwater mobile sensing networks J. The Ocean Engineering MAC D VINCENT Ngo ALAGAN Anpalagan. A detailed review of energy-efficient medium access control protocols for mobile sensor networks J. Computers and Electrical Engineering HUANG Hai WAN Lei JIANG Dapeng et al. Adaptive AUV formation strategy under acoustic communication conditions C / / IEEE Oceans 2014 Taipei TBD Taipei China MYUNGSUB Lee PARK Chang-Hyeon. A differential probability selection MAC protocol considering energy consumption in wireless sensor networks J. International Journal of Distributed Sensor Networks

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