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|1. (WO2018107306) PROBABILITY NEIGHBORHOOD AND OBSTACLE AVOIDANCE-BASED DATA COLLECTION METHOD FOR THREE-DIMENSIONAL UASNS|
|Applicants:||HOHAI UNIVERSITY, CHANGZHOU CAMPUS
|Title:||PROBABILITY NEIGHBORHOOD AND OBSTACLE AVOIDANCE-BASED DATA COLLECTION METHOD FOR THREE-DIMENSIONAL UASNS|
Disclosed in the present invention is a probability neighborhood and obstacle avoidance-based data collection method for three-dimensional underwater acoustic sensor networks (UASNs), which is suitable for a network having known node deployment information and obstacle information. The method is characterized in comprising the following steps: constructing a probabilistic communication model of a three-dimensional underwater acoustic sensor network; establishing a probability neighborhood location point coverage set as a resident point set of an autonomous underwater vehicle (AUV) on the basis of the constructed probabilistic communication model of the three-dimensional underwater acoustic sensor network; planning an obstacle avoidance AUV data collection path on the basis of the resident point set, and carrying out network-wide data collection. The data collection distance of the present invention may be flexibly adjusted according to probability requirements; energy consumed when data is transmitted by a sensor node is effectively reduced while network lifetime is prolonged; at the same time, data collection completion time is effectively shortened, thereby reducing data delay and providing an effective solution having balanced information gain, data delay, and network energy consumption.