Model of adaptive navigation and communication protocol for the organization of AUV group operation

摘要

Newest achievements in underwater acoustic communications (UAC) open fresh possibilities for designing of more and more complex and larger scale underwater acoustics networks (UAN), which consist of bottom, moored and surface stations; autonomous underwater and surface vehicles (AUV and ASV); remotely controlled and manned vehicles. The process of UAN designing goes through stages of i) UAC physical layer development; ii) development of media access control protocol (MAC-protocol) regulating the way of channel time and frequency resources utilization as well as procedure and method of confirmation of successful data transmission between nodes and/or request of corrupted message retransmission. The aims of presented work are the development of MAC-protocol for group control, communication and navigation for AUV/ASV and the analysis of existing solutions in this area. The development of the protocol was based on analysis of scientific works in the field of MAC-protocols for UANs.