Underwater AUV path forming method based on Dirichlet vertex

Abstract

The invention discloses an underwater AUV path forming method based on Dirichlet vertexes. The method comprises the following steps: 1, generating AUV data collection points of a Dirichlet structure; 2, describing a dominating relation of a Dirichlet vertex to a sensor node; 3, reducing AUV data collection points by adopting a dominating set theory; and 4, obtaining an optimized path. According to the method, the length of a moving path can be reduced on the basis of ensuring complete collection of whole network data, so that the network energy consumption can be reduced, the moving speed of the underwater AUV can be improved, and an optimized path can be formed.

Description

technical field [0001] The invention belongs to the field of wireless sensor networks, in particular to an underwater AUV path formation method based on Dirichlet vertices. Background technique [0002] Underwater sensor network data collection has particularities compared with terrestrial sensor network data collection: [0003] 1. The underwater environment has three-dimensional characteristics; [0004] 2. The sensor nodes are sparsely arranged, that is, the distance between nodes is usually greater than the communication radius of nodes, and it is difficult to aggregate data through multi-hop routing between nodes. [0005] 3. For underwater acoustic communication, the energy consumption of node communication mainly depends on the data transmission distance. [0006] 4. The energy of sensor nodes is limited. [0007] 5. The underwater environment is highly dynamic. [0008] The above characteristics make the data collection of underwater sensor networks more complex ...

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Problems solved by technology

[0004] 2. The sensor nodes are sparsely arranged, that is, the distance between nodes is usually greater than the communication radius of nodes, and it is difficult to aggregate data through multi-hop routing between nodes

[0006] 4. Sensor node energy is limited

[0016] In the above methods, the method of using the cluster head node as the AUV data collection point of the underwater vehicle has limitations in practical application; the method of using the underwater sensor node as the AUV data collection point of the underwater vehicle is easy to cause its moving path length to be difficult. At the same time, when the number of underwater sensor nodes is large, the path planning of the underwater vehicle AUV becomes a more difficult problem. The method of using the space sub-region as the data collection point of the underwater vehicle AUV divides the sub-region Lack of evidence

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