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Simulator and location-aware routing protocol for mobile ad hoc acoustic networks of AUVs.

机译：AUV的移动自组织声学网络的模拟器和位置感知路由协议。

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摘要

Acoustic networks of autonomous underwater vehicles (AUVs) show great promise, but a lack of simulation tools and reliance on protocols originally developed for terrestrial radio networks has hindered progress. This work addresses both issues. A new simulator of underwater communication among AUVs provides accurate communication modeling and flexible vehicle behavior, while a new routing protocol, location-aware source routing (LASR) provides superior network performance. The new simulator was used to evaluate communication without networking, and then with networking using the flooding or dynamic source routing (DSR) protocols. The results confirmed that a network was essential to ensure effective fleet-wide communication. The flooding protocol provided extremely reliable communication but with low message volumes. The DSR protocol, a popular routing protocol due to its effectiveness in terrestrial radio networks, proved to be a bad choice in an acoustic environment: in most cases, it suffered from both poor reliability and low message volumes. Due to the high acoustic latency, even moderate vehicle speeds caused the network topology to change faster than DSR could adapt. DSR's reliance on shortest-path routing also proved to be a significant disadvantage. Several DSR optimizations were also tested; most proved to be unhelpful or actually harmful in an underwater acoustic network. LASR was developed to address the problems noted in flooding and DSR. LASR was loosely derived from DSR, most significantly retaining source routes and the reply/request route discovery technique. However, LASR added features which proved, in simulation, to be significant advantages two of the most effective were a link/route metric and a node tracking system. To replace shortest-path routing, LASR used the expected transmission count (ETX) metric. This allowed LASR to make more informed routing decisions which greatly increased performance compared to DSR. The node tracking system was the most novel addition: using only implicit communication coupled with the use of time-division multiple access (TDMA), the tracking system provided predicted node locations. These predictions made it possible for LASR to proactively respond to topology changes. In most cases, LASR outperformed flooding and DSR in message delivery reliability and message delivery volume.
机译：自主水下航行器（AUV）的声学网络显示出巨大的希望，但是缺乏仿真工具和对最初为地面无线电网络开发的协议的依赖阻碍了其发展。这项工作解决了两个问题。 AUV之间的新型水下通信仿真器可提供准确的通信建模和灵活的车辆行为，而新的路由协议，位置感知源路由（LASR）可提供出色的网络性能。新的模拟器用于评估通信，而无需联网，然后使用洪泛或动态源路由（DSR）协议进行联网。结果证实，网络对于确保有效的全车队通信至关重要。泛洪协议提供了极其可靠的通信，但消息量很少。 DSR协议是一种流行的路由协议，由于其在地面无线电网络中的有效性而被证明在声学环境中是一个糟糕的选择：在大多数情况下，它的可靠性低且消息量少。由于高的声音等待时间，即使中等的车速也导致网络拓扑的变化快于DSR所能适应的范围。 DSR依赖最短路径路由也被证明是一个明显的缺点。还测试了几种DSR优化；在水下声波网络中，大多数被证明是无益的或实际上有害的。 LASR旨在解决洪水和DSR中指出的问题。 LASR是从DSR松散派生的，最重要的是保留了源路由和答复/请求路由发现技术。但是，LASR添加了一些功能，这些功能在仿真中被证明是重要的优势，其中最有效的两个是链路/路由度量和节点跟踪系统。为了替换最短路径路由，LASR使用了预期的传输计数（ETX）指标。与DSR相比，这使LASR可以做出更明智的路由决策，从而大大提高了性能。节点跟踪系统是最新颖的功能：仅使用隐式通信并结合使用时分多址（TDMA），跟踪系统即可提供预测的节点位置。这些预测使LASR可以主动响应拓扑变化。在大多数情况下，LASR在邮件传递可靠性和邮件传递量方面胜过洪泛和DSR。

著录项

  • 作者

    Carlson, Edward A.;

  • 作者单位

    Florida Atlantic University.;

  • 授予单位 Florida Atlantic University.;
  • 学科 Engineering Marine and Ocean.;Engineering Robotics.;Physics Acoustics.
  • 学位 Ph.D.
  • 年度 2009
  • 页码 229 p.
  • 总页数 229
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 海洋工程;声学;
  • 关键词

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