Position Aware Mobility Pattern of AUVs for Avoiding Void Zone in Underwater WSNs

摘要

In this paper, we propose an optimization scheme for avoiding void zone and minimization of uncertainty in glider's position estimation. Gliders stay at sojourn positions for predefined time. At these stops, self-confidence (s-confidence) and neighbor-confidence (n-confidence) regions are estimated. On the basis of present state of glider, it estimates s-confidence region and share control information with neighbors. By using direction, present position, s-confidence region and distance from the neighboring glider, n-confidence region is estimated. Transmission power of glider is adjusted according to these confidence regions. Sojourn positions in the network minimize the uncertainty in position and confidence regions estimation.