Name
Abstract | ||
|---|---|---|
We examine the problem of utilizing an autonomous underwater vehicle (AUV) to collect data from an underwater sensor network. The sensors in the network are equipped with acoustic modems that provide noisy, range-limited communication. The AUV must plan a path that maximizes the information collected while minimizing travel time or fuel expenditure. We propose AUV path planning methods that extend algorithms for variants of the Traveling Salesperson Problem (TSP). While executing a path, the AUV can improve performance by communicating with multiple nodes in the network at once. Such multi-node communication requires a scheduling protocol that is robust to channel variations and interference. To this end, we examine two multiple access protocols for the underwater data collection scenario, one based on deterministic access and another based on random access. We compare the proposed algorithms to baseline strategies through simulated experiments that utilize models derived from experimental test data. Our results demonstrate that properly designed communication models and scheduling protocols are essential for choosing the appropriate path planning algorithms for data collection. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/JSAC.2012.120606 | IEEE Journal on Selected Areas in Communications |
Keywords | Field | DocType |
access protocols,autonomous aerial vehicles,mobile robots,modems,path planning,scheduling,telecommunication channels,travelling salesman problems,underwater acoustic communication,underwater vehicles,wireless sensor networks,AUV path planning methods,TSP,acoustic modems,autonomous underwater vehicle,baseline strategies,channel variations,deterministic access,interference,multinode communication,multiple access protocols,random access,range-limited communication,robotic sensor networks,scheduling protocol,traveling salesperson problem,underwater data collection,underwater sensor network,acoustic communication,path planning algorithms,sensor networks,underwater robotics | Motion planning,Data modeling,Underwater acoustic communication,Computer science,Real-time computing,Models of communication,Test data,Underwater robotics,Wireless sensor network,Random access | Journal |
Volume | Issue | ISSN |
30 | 5 | 0733-8716 |
Citations | PageRank | References |
56 | 2.40 | 16 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Geoffrey A. Hollinger | 1 | 334 | 27.61 |
| Sunav Choudhary | 2 | 79 | 3.74 |
| Qarabaqi, P. | 3 | 56 | 2.40 |
| Chris Murphy | 4 | 61 | 3.24 |