A Low-Cost Testbed of Underwater Mobile Sensing Network

作     者：尚桂杨 冯正平 连琏 SHANG Gui-yang FENG Zheng-ping~*,LIAN Lian (School of Naval Architecture,Ocean and Civil Engineering,Shanghai Jiaotong University,Shanghai 200240,China)

作者机构：School of Naval ArchitectureOcean and Civil EngineeringShanghai Jiaotong University 

出 版 物：《Journal of Shanghai Jiaotong university(Science)》 (上海交通大学学报（英文版）)

年 卷 期：2011年第16卷第4期

页      面：502-507页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：the National High Technology Research and Development Program(863) of China (No.2006AA09Z233) 

主　　题：underwater mobile sensing network(UMSN) autonomous underwater vehicle(AUV) testbed coordination and cooperation control 

摘      要：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,*** observatory networks and moored buoy *** has obvious advantages over a single large AUV in higher efficiency due to parallel observation,stronger robustness to vehicle failures and lower *** 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 *** order to verify key technologies involved in an UMSN,*** of multi-AUVs based on acoustic communication,a low cost testbed has been developed for experimental *** design of both hardware and software is *** the results of a functional test for verification of the effectiveness of the testbed are presented.