School of Electronics and Information, Hangzhou Dianzi University, Hangzhou 310018, China.
School of Electrical Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou 310018, China.
Sensors (Basel). 2018 Jun 30;18(7):2105. doi: 10.3390/s18072105.
Sensory data collection is one of the most important concerns in underwater sensor networks (USNs). Because full connectivity cannot be guaranteed, mobile data gathering with autonomous underwater vehicles (AUVs) is widely used in sparse three-dimensional (3D) USNs to solve energy-imbalance problems between different sensor nodes. AUVs with relatively abundant energy and storage can collect sensory data from one sensor node to transmit to another node, so as to avoid energy-intensive multi-hop transmission. As a result, movement control strategy and data collecting path planning for AUVs are very crucial for the performance of data acquisition. This paper proposes a smooth 3D Dubins curves based mobile data gathering mechanism to overcome the kinematic nonholonomic constraints of AUVs. The objective of our proposed method is to collect sensory data along smooth 3D Dubins paths, which are interpolated by continuous Bezier curves in the -axis from 2D Dubins curves. Extensive simulation results verify that the proposed method has a more efficient performance in terms of path smoothness and energy consumption; thus it is very suitable for mobile data collection in 3D underwater sensor networks.
感测数据收集是水下传感器网络 (USN) 中最重要的关注点之一。由于无法保证完全连通性，因此在稀疏的三维 (3D) USN 中广泛使用具有自主能力的水下航行器 (AUV) 进行移动数据收集，以解决不同传感器节点之间的能量失衡问题。能量和存储相对充足的 AUV 可以从一个传感器节点收集感测数据并传输到另一个节点，从而避免能量密集的多跳传输。因此，AUV 的运动控制策略和数据收集路径规划对于数据采集的性能至关重要。本文提出了一种基于平滑 3D Dubins 曲线的移动数据收集机制，以克服 AUV 的运动非完整约束。我们提出的方法的目标是沿着平滑的 3D Dubins 路径收集感测数据，这些路径通过连续 Bezier 曲线在 -轴上从 2D Dubins 曲线插值。大量的仿真结果验证了该方法在路径平滑度和能耗方面具有更高效的性能，因此非常适合在 3D 水下传感器网络中进行移动数据收集。
