面向水下移动组网的多AUV协同规划及通信方法研究

The multi-AUV-based underwater mobile network provides a new means for the observation of marine environment with its spatial distribution and control maneuverability. In order to solve the problem of weak underwater communication and AVU environment adaptability, this paper proposes an environment self-adapted collaborative communication method under weak communication. This method, combined multi-AUV collaborative planning and cooperative communication, puts its main research contents are: 1 In order to improve the adaptability of multi-AUV intelligent decision, a multi-AUV environment adaptive collaborative planning method is proposed, including a basic behavior assessment method based on ring function, and an environment adapted multi-objective optimization behavior fusion method. 2 A method of underwater cooperative communication under the condition of weak communication is proposed, including a underwater onnection detection mechanism based on the model prediction and an AUV aided underwater mobile network routing protocol. With the use of collaborative communication to enhance the environmental adaptability of collaborative planning and the decision aided collaborative planning to improve data transmission rate and save energy consumption, the method provides theoretical support for a wide range of marine environment observation.

基于多AUV的水下移动网络凭借其空间的分布性和控制的机动性为海洋环境观测提供了全新的手段。本课题针对水下弱通信和AUV环境适应性不足的问题，将多AUV协同规划与协同通信有机结合，拟提出弱通信条件下环境自适应的多水下机器人协同组网技术方法，主要研究内容有：1. 为提高多AUV智能决策的适应性，提出环境自适应的多auv协同规划方法，具体包括基于环函数的基本行为评估方法和环境自适应的多目标优化行为融合方法。2.提出弱通信条件下节约能耗的水下协同通信方法，具体包括基于模型预测的水下节点连接探测机制和AUV辅助的水下移动网络路由协议。利用高效协同通信增强协同规划的环境适应性，同时利用协同规划的决策辅助提高通信的数据传输率同时节约能耗，进行仿真实验和水池自航模实验验证，为大范围海洋环境立体观测提供理论和技术支撑。

针对水下弱通信和AUV环境适应性不足的问题，开展多水下机器人路径规划和水下移动协同通信技术的研究，将多AUV协同规划与协同通信有机结合，提出了基于环函数的决策行为评估方法和环境自适应的多目标优化路径规划方法，建立了基于模型预测的水下节点连接探测机制，形成了协同规划辅助的水下移动网络路由协议，系统组成了弱通信条件下环境自适应的多水下机器人协同组网技术方法，为大范围海洋环境立体观测提供理论和技术支撑。项目组在国内外SCI检索学术期刊发表论文6篇，申请国家发明专利8项。获省部级奖励1项。项目研究团队按照既定研究方案和技术路线开展相关研究工作，完成了项目计划书规定的研究目标评价。