Abstract
Comprised by a swarm of acoustically linked and cooperative autonomous underwater vehicles (AUVs) with onboard sensors, an underwater mobile sensing network (UMSN) will be a complementary means to fixed observatory networks, e.g. seafloor observatory networks and moored buoy arrays. It has obvious advantages over a single large AUV in higher efficiency due to parallel observation, stronger robustness to vehicle failures and lower cost. Although an UMSN can be viewed as a counterpart of wireless mobile sensing networks for air and terrestrial applications, it is much more challenging due to poor performance of underwater acoustic communication, poor performance of underwater positioning and high degree of uncertainty in vehicle dynamics and underwater environment. In order to verify key technologies involved in an UMSN, e.g. cooperation of multi-AUVs based on acoustic communication, a low cost testbed has been developed for experimental study. The design of both hardware and software is introduced. Also the results of a functional test for verification of the effectiveness of the testbed are presented.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Ocean Observatories Initiative (OOI). Ocean observatories initiative design documents now online [EB/OL]. (2010-03-11). http://www.oceanleadership.org/programs-and-partnerships/ocean-observing/ooi/.
Akyildiz I F, Pompili D, Melodia T. Underwater acoustic sensor networks: Research challenges [J]. Ad Hoc Networks, 2005, 3(3): 257–279.
Kumar R, Stover J A. A behavior-based intelligent control architecture with application to coordination of multiple underwater vehicles [J]. IEEE Transactions on Systems, Man and Cybernetics. Part A: Systems and Humans, 2000, 30(6): 767–784.
Turner R M, Turner E H. A two-level, protocol-based approach to controlling autonomous oceanographic sampling networks [J]. IEEE Journal of Oceanic Engineering, 2001, 26(4): 654–666.
Feng Z P. Formation stabilization of underwater mobile sensing networks [C] // Proc Oceans. Bremen, Germany: IEEE, 2009: 1–4.
Kang X D, Xu H L, Feng X S, et al. Formation evaluation of multi-AUV system for deep-sea hydrothermal plume exploration [C] // Proc Intelligent Human-Machine Systems and Cybernetics International Conference. Hangzhou, China: IEEE, 2009: 26–27.
Wu X P, Feng Z P, Zhu J M, et al. GA-based path planning for multiple AUVs [J]. International Journal of Control, 2007, 80(7): 1180–1185.
Cui R X, Xu D M, Yan W S. Formation control of autonomous underwater vehicles under fixed topology [C] // Proc IEEE International Conference on Control and Automation. Guangzhou, China: IEEE, 2007: 2913–2918.
Xu Zhen-zhen, Feng Xi-sheng. Current status and future directions of multiple UUV cooperation system [J]. Robot, 2007, 29(2): 186–192 (in Chinese).
Liu J K. Advanced PID control and MATLAB simulation [M]. Beijing: Electronic Industry Publishing House, 2003.
Chang Y T, Wang D M, Zhang P. Matlab dynamic link library programming technology and its engineering application [J]. Control & Automation, 2007, 23(33): 278–279.
Author information
Authors and Affiliations
Corresponding author
Additional information
Foundation item: the National High Technology Research and Development Program (863) of China (No. 2006AA09Z233)
Rights and permissions
About this article
Cite this article
Shang, Gy., Feng, Zp. & Lian, L. A low-cost testbed of underwater mobile sensing network. J. Shanghai Jiaotong Univ. (Sci.) 16, 502–507 (2011). https://doi.org/10.1007/s12204-010-1084-1
Received:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12204-010-1084-1
Key words
- underwater mobile sensing network (UMSN)
- autonomous underwater vehicle (AUV)
- testbed
- coordination and cooperation control