CN105824236B - A kind of adaptive group-net communication method of underwater robot - Google Patents
A kind of adaptive group-net communication method of underwater robot Download PDFInfo
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Abstract
The invention discloses a kind of adaptive group-net communication method of underwater robot.According to the relative distance between AUV nodes, for following the nearer nodes of AUV to use linear topology transmission means apart from other farther out apart from navigator AUV nodes, and for other AUV nodes using one-to-many competition topological transmission mode.During linear topological transmission, navigator AUV and all follow AUV broadcast with realizing time synchronized by way of response, posterior nodal point be responsible for the communication or dormancy of peripheral node according to the effect selection apart from navigator AUV and data transfer, this reduces navigator AUV energy expenditure, the life span of whole AUV formation networking is improved.And the adaptive communication method of one-to-many competition contains a kind of four road and shaken hands transmission method, the invention can reduce the packet loss of transmission and improve the handling capacity of network.
Description
Technical field
The invention belongs to the adaptive group-net communication side of the underwater robot communications field, more particularly to a kind of underwater robot
Method.
Background technology
Autonomous type underwater robot (AUV) militarily can be widely applied to waters investigation, relay communication, region detect a mine,
Intelligence attack etc..At civilian aspect, available for benthon resource exploration, mineral resources sampling, sea-floor relief exploration, hypostasis is beaten
Drag for, the monitoring of earthquake geothermal activity, marine environmental monitoring etc..
Many AUV cooperation can improve operating efficiency, and provide redundancy when some AUV breaks down.Use price phase
To cheap, multiple small-sized AUV of simple structure cooperation completes the subsea tasks of complexity, more expensive and take than using one
Large-scale AUV with multiple sensors has better performance.The main purpose of underwater multi-robot group-net communication is for machine under water
Information exchange, coordination between device individual human provide support, and realize the information flow between robot interior difference in functionality module
It is logical.
Application No. CN201510154636 Chinese patent document (publication date：On September 9th, 2015) disclosed in " one
Plant communicator and method for underwater crowd's Collaborative Control " one kind is provided for underwater crowd's Collaborative Control
Communicator and method.Although one kind belongs to same for underwater robot Collaborative Control communicator with method and this patent
Technical field, but it mainly completes detection, group bag and the coding of signal by aquatic communicator, and pass through cooperative control method
Tracking performance declines problem caused by solving communication context and bandwidth constraint.And the present invention according between AUV nodes it is relative away from
From the information transmission mode for taking topology, navigator AUV is realized by adaptive MAC communication means and it is all follow AUV it
Between data transfer and time synchronized, so invention just reduces navigator AUV energy expenditure, improves whole AUV and forms into columns
The life span of networking and the handling capacity of network.
The content of the invention
Have it is an object of the invention to provide one kind using flexibly, the adaptive networking of adaptable underwater robot is led to
Letter method.
A kind of adaptive group-net communication method of underwater robot, comprises the following steps,
Step one：The hierarchical communication architecture of underwater robot networking is set up, structure includes physical layer, data link layer and net
Network layers；
Step 2：The topological structure communicated between AUV nodes, G=(V, ξ, A) are defined on the basis of hierarchical communication architecture
The Weighted Directed Graph constituted for multiple AUV nodes, wherein V={ s1,s2,...,snBe AUV set of node, the directed edge collection of figure
ForA=[aij] be digraph weighted adjacency matrix, aij≥0；Per a line (si,sj) corresponding A UV nodes siWith
AUV nodes sjChannel in t communication process, i.e.,
Step 3：The topological structure of underwater robot group-net communication is divided into linear transfer topological structure and one-to-many competition
Topological structure.
A kind of adaptive group-net communication method of underwater robot of the present invention, can also include：
1st, according to the relative distance between AUV nodes, selection linear transfer topological structure and one-to-many competition topological structure,
For following the nearer nodes of AUV to use linear topology transmission means apart from other farther out apart from navigator AUV nodes, online
Property topological transmission during, navigator AUV and it is all follow AUV broadcast with realizing time synchronized by way of response, it
Posterior nodal point is responsible for the communication or dormancy of peripheral node according to the effect selection apart from navigator AUV and data transfer；And for it
He competes topological transmission mode by AUV nodes using one-to-many, employs the adaptive communication method of one-to-many competition.
2nd, the communication means of linear transfer topological structure is：
(1) when a navigator AUV and other several AUV follow node to be communicated using linear topology transmission means, from
Adapt to each node in group-net communication method and include one " RTS ", " CTS ", " Data " and " ACK ", when channel competition selection
After finishing, navigator AUV and it is all follow AUV broadcast with realizing time synchronized by way of response, navigator AUV passes through
Intermediate node 1 sends message to receiving node 2；
(2) navigator AUV sends " RTS " message to receiving node 1 first, its data packet format for RTS, node_pos,
Node_speed, destination_node }, represent respectively navigator AUV data sending request, current location, speed and
Purpose receiving node, when receiving node 1 receives " RTS " message, the AUV is directly by the message transmission to recipient node 2, and one
It is straight to wait until receiving " CTS " or overtime frame of purpose AUV2 returns；When receiving node 2 receives " RTS " message, the node
Upcoming message transmission is notified of, purpose AUV enters " Response adjustment " states, while being saved to receiving
Point 1 transmits " CTS " information；When receiving node 1 receives " CTS " message of receiving node 2 or overtime frame, returned to navigator AUV
Return " CTS " message, its data packet format for CTS1/overtime, node1_pos, node1_speed, CTS2/overtime,
Node2_pos, node2_speed }, " CTS " or time exceeded message that receiving node 1 or 2 is sent, receiving node 1 or 2 are represented respectively
Current location and speed；When a timeout occurs, navigator AUV selects purpose according to the positional information of other AUV nodes again
AUV；
(3) when navigator AUV receives " CTS " message, sent by the received node 1 of corresponding channel to receiving node 2
Data, if purpose AUV1 receives " Data " from navigator AUV, into " Response adjustment " states, and by number
Receiving node 2 is forwarded to according to bag；After the reception of receiving node 2 data are finished, into " ACK " state, sent to receiving node 1
" ACK " packet, otherwise as data transfer is overtime；
(4) when " Response adjustment " states are completed, and are received AUV2 to AUV nodes 1 are received and are sent " ACK " number
According to bag, receive AUV nodes 1 and " ACK " packet is transmitted to navigator's AUV nodes again；" ACK " number transmitted by receiving node 1
It is { ACK1/overtime, node1_pos, node1_speed, ACK2/overtime, node2_pos, node2_ according to bag form
Speed }, " ACK " or time exceeded message that receiving node 1 or 2 is sent, the current location of receiving node 1 or 2 and speed are represented respectively
Degree；After navigator AUV receives " ACK " packet, its data transmission procedure will be terminated, node enters resting state.
3rd, the communication means of one-to-many competition topological structure is：
Navigator AUV carries its message to be sent and sends pre-contact packet in predetermined channel, if several AUV connect
Receive node and be simultaneously emitted by pre-contact packet, channel is at war with and selected to node；Channel competition selection finishes rear navigator
AUV is shaken hands by channel with purpose AUV；Adaptive communication method includes one " RTS ", " CTS ", " Data ", " ACK "
Four road handshake methods a, prevention to other waits AUV sends packet, and the deferring procedure of message transmission is included in
" in the Response adjustment " times；In transmitting procedure, channel prevents the use of other AUV nodes by BTS；
Four tunnel handshake communication handshake methods include four-stage：
First stage, when purpose AUV receives " RTS " frame, the AUV is notified of upcoming message transmission, mesh
AUV enter " Response adjustment " states, with by selected channel from navigator's AUV received data packets, together
When to other AUV nodes send " BTS " packet with notify they this period enter " sleep " state；
Second stage, navigator AUV is sent after " RTS " frame, is waited always until receiving " CTS " of purpose AUV returns
Or overtime frame, when a timeout occurs, navigator AUV is returned to channel competition and selection state；
Phase III, start from navigator AUV and receive " CTS " packet；In this stage, navigator AUV passes through corresponding
Channel to purpose AUV send packet, if purpose AUV receives " Data " from navigator AUV, be put into
" Responseadjustment " state, packet sends and receives finish after, " ACK " state will be entered, otherwise as data
Transmission time-out；
Fourth stage, " Response adjustment " states are completed, and purpose AUV sends " ACK " packet；Navigating
Member AUV is received after " ACK " packet, terminates its data transmission procedure；Transmitted " BTS " packet is reset to transmission, with
Other AUV nodes are waken up, channel demands state is reentered.
Beneficial effect：
The present invention takes the information transmission mode of topology according to the relative distance between AUV nodes, logical by adaptive MAC
Letter method realizes navigator AUV and all data transfer and time synchronized that follow between AUV, and the present invention just reduces navigator
AUV energy expenditure, improves the life span of whole AUV formation networking and the handling capacity of network.
Brief description of the drawings
Fig. 1 is the hierarchical diagram of underwater robot group-net communication；
Fig. 2 is the topology diagram of underwater multi-robot group-net communication；
Fig. 3 is the adaptive group-net communication method of linear topology transmission；
Fig. 4 is based on the adaptive group-net communication method competed 1 pair more；
Fig. 5 is the adaptive group-net communication simulation result based on linear topology；Fig. 5 (a) is east orientation-north orientation simulation result
Figure；Fig. 5 (b) is time delay result figure；Fig. 5 (c) is packet loss result figure；Fig. 5 (d) is handling capacity result figure；
Fig. 6 is the adaptive group-net communication simulation result based on one-to-many competition；Fig. 6 (a) is east orientation-north orientation simulation result
Figure；Fig. 6 (b) is time delay result figure；Fig. 6 (c) is packet loss result figure；Fig. 6 (d) is handling capacity result figure.
Embodiment
The present invention is described in further details below in conjunction with accompanying drawing.
It is an object of the present invention to provide a kind of adaptive group-net communication method of underwater robot, available for underwater robot group
Net realizes the reasonable distribution of channel resource by medium access control in the data exchange of data link layer, so as to realize that data exist
Link between adjacent node is free of errors transmitted.The invention has using flexible, the advantages of strong adaptability.
Goal of the invention is realized as follows：
A, the hierarchical communication architecture for initially setting up underwater robot networking.Structure includes physical layer, data link layer and net
Network layers.Wherein, physical layer is the bottom of underwater sound communication module, mainly uses Australia Innovation in Digital
The multichannel underwater communications system Aquacomm network of Signal Processing and Processing companies exploitation
Underwater Acoustic Communication System, it sends broadband signal using spread-spectrum in the case of low energy consumption.Its data link layer is based on overloading
Ripple CDMA (CDMA) technical transmission strategy realizes parallel spread spectrum communication.Mainly realize chain of the data between adjacent node
Free of errors transmit on road.And because underwater acoustic channel is present compared with long time delay, cause simple RTS/CTS data-bag interactings mechanism not
Suitable for subsurface communication network, and there is presently no a suitable medium access control communication means to realize channel resource
Reasonable distribution.The task of Internet is the suitable routing iinformation of selection, it is determined that the road between distribution source node and destination node
By search and information.
B, the topological structure communicated between AUV nodes is defined on the basis of communication system architecture, if G=(V, ξ, A) is
The Weighted Directed Graph of multiple AUV nodes compositions, wherein V={ s1,s2,...,snBe AUV set of node, the directed edge collection of figure isA=[aij] be digraph weighted adjacency matrix, aij≥0.Per a line (si,sj) corresponding A UV nodes siWith
AUV nodes sjChannel in t communication process, i.e.,
C, the topological structure of underwater robot group-net communication is divided into linear transfer topological structure and topology knot is competed more 1 pair
Structure.Designed adaptive communication method includes one " RTS ", " CTS ", " Data ", the four road handshake methods of " ACK ", one
Prevention to other wait AUV nodes sends (Block To Send--BTS) packet.And the deferring procedure bag of message transmission
It is contained in " in the Response adjustment " times.In transmitting procedure, channel will prevent making for other AUV nodes by BTS
With.
D, for linear topology transmission structure：First, after channel competition selection is finished, navigator AUV nodes and reason
Follow AUV nodes broadcast with realizing time synchronized by way of response, navigator AUV nodes will by intermediate node 1 to
Receiving node 2 sends message." RTS " frame will be sent in sequence to purpose AUV with connecing an AUV node by an AUV node,
" CTS " frame will be sent to broadcast AUV nodes one by one by purpose AUV nodes.
E, for 1 to more compete topological structure for：After channel competition selection is finished, broadcast AUV nodes will with it is a certain
Target AUV nodes are communicated, and now other AUV nodes will be sent one " BTS " (Block To Send) frame informations and be entered
Row dormancy.
The present invention is to provide a kind of adaptive group-net communication method of underwater robot.In many AUV (Autonomous
Underwater Vehicle) between in the communication structure that is layered, establish Data-Link with reference to the topological structure of formation Internet
The adaptive communication method of road floor.According to the relative distance between AUV nodes, for apart from navigator AUV nodes farther out and away from
Follow the nearer nodes of AUV to use linear topology transmission means from other, and opened up for other AUV nodes using one-to-many competition
Flutter transmission means.During linear topological transmission, navigator AUV and it is all follow AUV broadcast with by way of response
Realize time synchronized, posterior nodal point be responsible for the communication of peripheral node according to the effect selection apart from navigator AUV and data transfer
Or dormancy, this reduces navigator AUV energy expenditure, improve the life span of whole AUV formation networking.And it is one-to-many competing
The adaptive communication method striven contains a kind of four road and shaken hands transmission method, and the invention can reduce the packet loss of transmission and raising
The handling capacity of network.
A kind of adaptive group-net communication method of underwater robot, according to the relative distance between AUV nodes, networking is led to
The citation form of letter is divided into linear topology transmission and one-to-many two kinds of competition.For apart from navigator AUV nodes distance farther out
Other follow the nearer nodes of AUV to use linear topology transmission means, during linear topological transmission, navigator AUV and institute
Have follow AUV broadcast with response by way of realize time synchronized, posterior nodal point according to apart from navigator AUV and data biography
Defeated effect selection is responsible for the communication or dormancy of peripheral node.And use one-to-many competition topological transmission for other AUV nodes
Mode, employs the adaptive communication method of one-to-many competition.
Navigator AUV and it is all follow AUV broadcast with realizing time synchronized by way of response, posterior nodal point according to
It is responsible for the communication or dormancy of peripheral node apart from navigator AUV and data transfer effect selection.
When a navigator AUV and other several AUV follow node to be communicated using linear topology transmission means, Mei Gejie
Point includes one " RTS " (Request To Send), " CTS " (Clear To Send), " Data ", " ACK "
(Acknowledgment for receiving).Communication process is classified into four-stage：First, when channel competition selection is finished
Afterwards, navigator AUV and it is all follow AUV broadcast with realizing time synchronized by way of response, navigator AUV will be in
Intermediate node 1 sends message to receiving node 2.Secondly, navigator AUV sends " RTS " message, its data to receiving node 1 first
Bag form is { RTS, node_pos, node_speed, destination_node }, and navigator AUV data hair is represented respectively
Send request, current location, speed and purpose receiving node (it is assumed here that receiving node is purpose AUV2).When receiving node 1 is received
During to " RTS " message, the AUV directly by the message transmission, to recipient node 2, and always, until receiving purpose AUV2 return by wait
" CTS " or overtime frame returned.When receiving node 2 receives " RTS " message, the node is notified of upcoming message and passed
Defeated, purpose AUV enters " Response adjustment " states, while transmitting " CTS " information to receiving node 1.Saved when receiving
When point 1 receives " CTS " message of receiving node 2 or overtime frame, " CTS " message, its data packet format will be returned to navigator AUV
For { CTS1/overtime, node1_pos, node1_speed, CTS2/overtime, node2_pos, node2_speed },
" CTS " or time exceeded message that receiving node 1 or 2 is sent, the current location of receiving node 1 or 2 and speed are represented respectively.Work as time-out
During generation, navigator AUV will select purpose AUV according to the positional information of other AUV nodes again.
Again, will be by the received node 1 of corresponding channel to receiving node 2 when navigator AUV receives " CTS " message
Data are sent, if purpose AUV1 receives " Data " from navigator AUV, it is put into " Response adjustment " shapes
State, and forward the packet to receiving node 2.After the reception of receiving node 2 data are finished, " ACK " state will be entered, saved to receiving
Point 1 sends " ACK " packet, and otherwise as data transfer is overtime.
In fourth stage, once " Response adjustment " state is completed, and receiving AUV2 will save to AUV is received
Point 1 sends " ACK " packet, receives AUV nodes 1 and " ACK " packet is transmitted into navigator's AUV nodes again.The institute of receiving node 1
Send " ACK " data packet format for ACK1/overtime, node1_pos, node1_speed, ACK2/overtime,
node2_pos,node2_speed}." ACK " or time exceeded message that receiving node 1 or 2 is sent, receiving node 1 or 2 are represented respectively
Current location and speed.After navigator AUV receives " ACK " packet, its data transmission procedure will be terminated, node enters
Resting state.
One-to-many competition topological transmission, adaptive group-net communication is characterised by：First, navigator AUV carries it and sent
Message send pre-contact packet in predetermined channel, if several AUV receiving nodes are simultaneously emitted by pre-contact packet, letter
Road will be at war with and select to node.Channel competition selection, which will finish rear navigator AUV, to be held by channel with purpose AUV
Hand.Designed adaptive group-net communication method includes one " RTS ", " CTS ", " Data ", the four road handshake methods of " ACK ",
One prevention to other waits AUV sends (Block To Send--BTS) packet.And the deferring procedure bag of message transmission
It is contained in " in the Response adjustment " times.In transmitting procedure, channel will prevent making for other AUV nodes by BTS
With
Transmission method shake hands comprising four-stage in four roads：In the first stage, should when purpose AUV receives " RTS " frame
AUV is notified of upcoming message transmission.Purpose AUV enters " Response adjustment " states, with by selected
The channel selected is from navigator's AUV received data packets.Send " BTS " packet to notify them at this to other AUV nodes simultaneously
The section time can enter " sleep " (sleep) state, to avoid clashing in whole data transmission procedure.
In second stage, navigator AUV is sent after " RTS " frame, will be waited always until receiving purpose AUV returns
" CTS " or overtime frame.When a timeout occurs, navigator AUV is returned to channel competition and selection state.Obviously, in packet and
It " transmission delay between Response adjustment " is transmitted/received the time at least equal to the packet, in order to
The response of node can be processed continuously one by one.So, transmitted " RTS " packet and " CTS " number received
It is two actions with identical maximum one-way only propagation delay according to bag, its maximum time transmitted delay is respectively Tmax.If I
To define set time length between a control frame and its subsequent frame be " CML ", then send " RTS " in navigator AUV
And the time span received between purpose AUV returns " CTS " can be defined as CMLRTS, send " CTS " in purpose AUV and receive
Time span between " Data " packet that navigator AUV is sent is referred to as " CMLCTS”.When purpose AUV is received " RTS "
After packet, the range information that it is obtained by Underwater Acoustic Communication System measurement reaches navigator AUV's to calculate " CTS " packet
The time interval of time, i.e., one " CML ".In the time of " CML ", channel will avoid the conflict of potential Communication Jamming.Once
" Response adjustment " states terminate, navigator AUV will by corresponding channel to purpose AUV send packet.Always
It, second stage makes purpose AUV be held consultation with navigator AUV, on the one hand with greater flexibility, on the other hand reduces
Due to bust this caused by channel confliction.
Phase III starts from navigator AUV and receives " CTS " packet.In this stage, navigator AUV will be by corresponding
Channel to purpose AUV send packet, if purpose AUV receives " Data " from navigator AUV, it is put into
" Response adjustment " states, packet sends and receives finish after, " ACK " state will be entered, otherwise as data
Transmission time-out.
In fourth stage, once " Response adjustment " state is completed, and purpose AUV will send " ACK " data
Bag.After navigator AUV receives " ACK " packet, its data transmission procedure will be terminated.Transmitted " BTS " packet will
Reset to transmission, to wake up other AUV nodes, reenter channel demands state.
Accompanying drawing 1 is the hierarchical diagram of underwater robot group-net communication.In hierarchy, physical layer is underwater sound communication mould
The bottom of block, it is main to use Australia Innovation in Digital Signal Processing and
The multichannel underwater communications system Aquacomm network Underwater Acoustic Communication Systems of Processing companies exploitation, it uses extension
Frequency spectrum sends broadband signal in the case of low energy consumption.The main data and sequential delivery for being responsible for receiving data link layer.Data
The task of link layer, which is mainly, realizes that the link of data among the nodes is free of errors transmitted.The task of Internet is that selection is suitable
Routing iinformation, it is determined that distribution source node and destination node between route search and information.
Accompanying drawing 2 is the topological structure of underwater multi-robot group-net communication, is mainly built according to the distance between underwater robot
It is vertical, including linear topology structure and 1 pair of two kinds of multiple topology.
Accompanying drawing 3 is the adaptive group-net communication method that linear topology is transmitted, as a navigator AUV and other several AUV
When following node using the communication of linear topology transmission means, each node is included in designed adaptive group-net communication method
One " RTS " (Request To Send), " CTS " (Clear To Send), " Data ", " ACK " (Acknowledgment
for receiving).Communication process is classified into four-stage：First, after channel competition selection is finished, navigator AUV and institute
By follow AUV broadcast with realizing time synchronized by way of response, navigator AUV will be saved to receiving by intermediate node 1
Point 2 sends message.Secondly, navigator AUV sends " RTS " message to receiving node 1 first, its data packet format for RTS,
Node_pos, node_speed, destination_node }, navigator AUV data sending request, present bit are represented respectively
Put, speed and purpose receiving node (it is assumed here that receiving node is purpose AUV2).When receiving node 1 receives " RTS " message,
The AUV, to recipient node 2, and is waited until receiving " CTS " or super of purpose AUV2 returns always directly by the message transmission
Time frame.When receiving node 2 receives " RTS " message, the node is notified of upcoming message transmission, and purpose AUV enters
" Response adjustment " states, while transmitting " CTS " information to receiving node 1.When receiving node 1 receives reception section
When " CTS " message of point 2 or overtime frame, " CTS " message will be returned to navigator AUV, its data packet format is { CTS1/
Overtime, node1_pos, node1_speed, CTS2/overtime, node2_pos, node2_speed }, represent respectively
" CTS " or time exceeded message that receiving node 1 or 2 is sent, the current location of receiving node 1 or 2 and speed.When a timeout occurs,
Navigator AUV will select purpose AUV according to the positional information of other AUV nodes again.
Again, will be by the received node 1 of corresponding channel to receiving node 2 when navigator AUV receives " CTS " message
Data are sent, if purpose AUV1 receives " Data " from navigator AUV, it is put into " Response adjustment " shapes
State, and forward the packet to receiving node 2.After the reception of receiving node 2 data are finished, " ACK " state will be entered, saved to receiving
Point 1 sends " ACK " packet, and otherwise as data transfer is overtime.
In fourth stage, once " Response adjustment " state is completed, and receiving AUV2 will save to AUV is received
Point 1 sends " ACK " packet, receives AUV nodes 1 and " ACK " packet is transmitted into navigator's AUV nodes again.The institute of receiving node 1
Send " ACK " data packet format for ACK1/overtime, node1_pos, node1_speed, ACK2/overtime,
node2_pos,node2_speed}." ACK " or time exceeded message that receiving node 1 or 2 is sent, receiving node 1 or 2 are represented respectively
Current location and speed.After navigator AUV receives " ACK " packet, its data transmission procedure will be terminated, node enters
Resting state.
Accompanying drawing 4 is based on the adaptive group-net communication method competed 1 pair more.When a navigator AUV node is simultaneously and several
During individual AUV receiving nodes communication, adaptively data transfer will be realized using based on competition.
First, navigator AUV carries its message to be sent and sends pre-contact packet in predetermined channel, if several
AUV receiving nodes are simultaneously emitted by pre-contact packet, and channel will be at war with and select to node.After channel competition selection is finished
Navigator AUV will be shaken hands by channel with purpose AUV.Designed adaptive communication method comprising one " RTS ",
" CTS ", " Data ", " ACK " four road handshake methods, a prevention to other waits AUV send (Block To Send--
BTS) packet.And the deferring procedure of message transmission is included in " in the Response adjustment " times.In transmitting procedure
In, channel will prevent the use of other AUV nodes by BTS
Four tunnel handshake communication handshake methods include four-stage：In the first stage, when purpose AUV receives " RTS " frame,
The AUV is notified of upcoming message transmission.Purpose AUV enters " Response adjustment " states, to pass through institute
The channel of selection is from navigator's AUV received data packets.Simultaneously to other AUV nodes send " BTS " packet with notify they
This period can enter " sleep " (sleep) state, to avoid clashing in whole data transmission procedure.
In second stage, navigator AUV is sent after " RTS " frame, will be waited always until receiving purpose AUV returns
" CTS " or overtime frame.When a timeout occurs, navigator AUV is returned to channel competition and selection state.Obviously, in packet and
It " transmission delay between Response adjustment " is transmitted/received the time at least equal to the packet, in order to
The response of node can be processed continuously one by one.So, transmitted " RTS " packet and " CTS " number received
It is two actions with identical maximum one-way only propagation delay according to bag, its maximum time transmitted delay is respectively Tmax.If I
To define set time length between a control frame and its subsequent frame be " CML ", then send " RTS " in navigator AUV
And the time span received between purpose AUV returns " CTS " can be defined as CMLRTS, send " CTS " in purpose AUV and receive
Time span between " Data " packet that navigator AUV is sent is referred to as " CMLCTS”.Passed so defining most long data
Transmission method is：
CMLRTS=CMLCTS=Tmax
When purpose AUV receives " RTS " packet after, the range information that it is obtained by Underwater Acoustic Communication System measurement is counted
Calculate the time that " CTS " packet reaches navigator AUV, i.e., the time interval of one " CML ".In the time of " CML ", channel will be kept away
Exempt from the conflict of potential Communication Jamming.Once " Response adjustment " states terminate, and navigator AUV will be by corresponding
Channel sends packet to purpose AUV.In a word, second stage makes purpose AUV be held consultation with navigator AUV, on the one hand has
Greater flexibility, is on the other hand reduced due to bust this caused by channel confliction.
Phase III starts from navigator AUV and receives " CTS " packet.In this stage, navigator AUV will be by corresponding
Channel to purpose AUV send packet, if purpose AUV receives " Data " from navigator AUV, it is put into
" Response adjustment " states, packet sends and receives finish after, " ACK " state will be entered, otherwise as data
Transmission time-out.
In fourth stage, once " Response adjustment " state is completed, and purpose AUV will send " ACK " data
Bag.After navigator AUV receives " ACK " packet, its data transmission procedure will be terminated.Transmitted " BTS " packet will
Reset to transmission, to wake up other AUV nodes, reenter channel demands state.
Accompanying drawing 5 and accompanying drawing 6 are many AUV respectively using the adaptive networking formation navigation based on linear topology and based on competition
Communication condition.Wherein AUV1 is navigator AUV, and AUV2, AUV3 and AUV4 are to follow AUV.In Fig. 5 due to AUV2, AUV3 and
Relative distances of the AUV4 away from navigator AUV1 farther out, and follows the distance between AUV relatively near, so taking the communication of linear topology
Mode.From simulation result, this mode to follow AUV packet loss and remained basically stable.By each AUV institutes in communication
The data volume of carrying is different, and the data required for the AUV more remote apart from navigator AUV are fewer, and nearer apart from navigator AUV
The data communication of itself is not only completed, to be also responsible for the AUV communications of periphery, so the handling capacity of unit interval is from inside to outside
Reduce successively.But the communication efficiency between AUV is not significantly reduced with the increase of distance, and this method passes through
Communication between AUV, significantly reduces navigator AUV energy expenditure, improves the life span of whole AUV formation networking.
Due to following AUV closely located with respect to navigator AUV1 in Fig. 6, so using the adaptive adaptive communications of one-to-many competition
Method, the time delay during communication, packet loss and unit interval handling capacity relatively, and due to this method root
According to the transmitting-receiving situation of packet using the communication between competition in time adjustment AUV, the method compared to periodicity dormancy is more suitable for moving
Dynamic this long time delay of node underwater acoustic communication and the higher situation of packet loss.
Claims (3)
1. a kind of adaptive group-net communication method of underwater robot, it is characterised in that：Comprise the following steps,
Step one：The hierarchical communication architecture of underwater robot networking is set up, structure includes physical layer, data link layer and network
Layer；
Step 2：The topological structure communicated between AUV nodes is defined on the basis of hierarchical communication architecture, G=(V, ξ, A) is many
The Weighted Directed Graph of individual AUV nodes composition, wherein V={ s1,s2,...,snBe AUV set of node, the directed edge collection of figure isA=[aij] be digraph weighted adjacency matrix, aij≥0；Per a line (si,sj) corresponding A UV nodes siWith
AUV nodes sjChannel in t communication process, i.e.,
Step 3：The topological structure of underwater robot group-net communication is divided into linear transfer topological structure and one-to-many competition topology
Structure；
According to the relative distance between AUV nodes, selection linear transfer topological structure and one-to-many competition topological structure, for away from
From navigator AUV nodes farther out with a distance from other follow the nearer node of AUV nodes use linear topology transmission means, linear
In topological transmission mode, navigator AUV and it is all follow AUV nodes broadcast with realizing time synchronized by way of response,
Posterior nodal point according to the communication or dormancy apart from navigator AUV and the effect selection peripheral node of data transfer；And for other
Follow AUV nodes to use one-to-many competition topological structure, employ the adaptive communication method of one-to-many competition.
2. a kind of adaptive group-net communication method of underwater robot according to claim 1, it is characterised in that：Described
The communication means of linear transfer topological structure is：
(1) when a navigator AUV with other it is several follow AUV nodes to be communicated using linear topology transmission means when, adaptively
Each node includes one " RTS ", " CTS ", " Data " and " ACK " in group-net communication method, when channel competition selection is finished
Afterwards, navigator AUV and it is all follow AUV nodes broadcast with realizing time synchronized by way of response, navigator AUV passes through
Receiving node 1 sends message to receiving node 2；
(2) navigator AUV sends " RTS " message to receiving node 1 first, its data packet format for RTS, node_pos,
Node_speed, destination_node }, represent respectively navigator AUV data sending request, current location, speed and
Receiving node 2, when receiving node 1 receives " RTS " message, the AUV directly by the message transmission to receiving node 2, and always
Wait until receiving " CTS " or overtime frame of the return of receiving node 2；When receiving node 2 receives " RTS " message, the node
It is notified of the transmission of upcoming message, receiving node 2 enters " Response adjustment " states, while to reception
Node 1 transmits " CTS " information；When receiving node 1 receives " CTS " message of receiving node 2 or overtime frame, to navigator AUV
" CTS " message is returned to, its data packet format is { CTS1/overtime, node1_pos, node1_speed, CTS2/
Overtime, node2_pos, node2_speed }, " CTS " or time exceeded message that receiving node 1 is sent are represented respectively, receive section
The current location of point 1 and the speed of receiving node 1；" CTS " or time exceeded message that receiving node 2 is sent, receiving node 2 it is current
Position and the speed of receiving node 2；When a timeout occurs, navigator AUV is selected according to the positional information of other AUV nodes again
Receiving node 1；
(3) when navigator AUV receives " CTS " message, data are sent to receiving node 2 by the received node 1 of corresponding channel,
If receiving node 1 receives " Data " from navigator AUV, into " Response adjustment " states, and by packet
It is forwarded to receiving node 2；After the reception of receiving node 2 data are finished, into " ACK " state, " ACK " number is sent to receiving node 1
According to bag, otherwise as data transfer is overtime；
(4) when " Response adjustment " states are completed, and receiving node 2 sends " ACK " packet to receiving node 1, connect
Receive node 1 and " ACK " packet is transmitted to navigator's AUV nodes again；" ACK " data packet format transmitted by receiving node 1 is
{ ACK1/overtime, node1_pos, node1_speed, ACK2/overtime, node2_pos, node2_speed }, point
" ACK " or time exceeded message that receiving node 1 is sent, the current location of receiving node 1 and the speed of receiving node 1 are not represented；Connect
Receive " ACK " or time exceeded message that node 2 is sent, the current location of receiving node 2 and the speed of receiving node 2；In navigator AUV
Receive after " ACK " packet, its data transmission procedure will be terminated, node enters resting state.
3. a kind of adaptive group-net communication method of underwater robot according to claim 1, it is characterised in that：Described
It is one-to-many competition topological structure communication means be：
Navigator AUV carries its message to be sent and sends pre-contact packet in predetermined channel, if several AUV receive section
Point is simultaneously emitted by pre-contact packet, and channel is at war with and selected to node；Channel competition selection finishes rear navigator AUV and led to
Channel is crossed to be shaken hands with receiving node 1；Adaptive communication method includes one " RTS ", " CTS ", " Data ", the four of " ACK "
Road handshake method a, prevention to other waits AUV sends (Block To Send--BTS) packet, and what message was transmitted prolongs
Slow process is included in " in the Response adjustment " times；In transmitting procedure, channel prevents other AUV from saving by BTS
The use of point；
Four tunnel handshake communication handshake methods include four-stage：
First stage, when receiving node 1 receives " RTS " frame, the AUV is notified of upcoming message transmission, receives
Node 1 enter " Response adjustment " states, with by selected channel from navigator's AUV received data packets, together
When to other AUV nodes send " BTS " packet with notify they this period enter " sleep " state；
Second stage, navigator AUV is sent after " RTS " frame, always wait until receive receiving node 1 return " CTS " or
Overtime frame, when a timeout occurs, navigator AUV are returned to channel competition and selection state；
Phase III, start from navigator AUV and receive " CTS " packet；In this stage, navigator AUV by believing accordingly
Road sends packet to receiving node 1, if receiving node 1 receives " Data " from navigator AUV, is put into " Response
Adjustment " states, packet sends and receives finish after, will enter " ACK " state, otherwise as data transfer time-out；
Fourth stage, " Response adjustment " states are completed, and receiving node 1 sends " ACK " packet；In navigator
AUV is received after " ACK " packet, terminates its data transmission procedure；Transmitted " BTS " packet, which is reset, to be sent, to wake up
Other AUV nodes, reenter channel demands state.
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| CN107124201B (en) * | 2017-03-10 | 2019-10-29 | 北京大学 | A kind of subsurface communication method towards Shui Zhong robot |
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| CN109931936A (en) * | 2019-03-18 | 2019-06-25 | 西北工业大学 | A kind of weak connectedness AUV collaborative navigation method based on mobile-relay station |
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