面向水下机器人的水下电场通信协议设计

张 晗; 王 伟; 谢广明

doi:10.11993/j.issn.1673-1948.2019.02.003

面向水下机器人的水下电场通信协议设计

doi: 10.11993/j.issn.1673-1948.2019.02.003

张晗^1,2,
王伟³,
谢广明^1,4

1.
北京大学工学院湍流与复杂系统国家重点实验室, 智能仿生设计实验室, 北京, 100871
2.
中国人民解放军32555部队, 广东广州, 510600
3.
麻省理工学院城市研究与规划学院, 美国马塞诸塞州剑桥, 02139
4.
北京大学海洋研究院, 北京, 100871

基金项目: 国家自然科学基金(91648120, 61503008, 61633002, 51575005); 中国博士后科学基金(2015M570013, 2016T90016); 国家重点研发计划(2017YFB1400800)

详细信息

作者简介:
张晗(1988-), 男, 硕士, 助理工程师, 主要从事仿生机器人及水下电场通信技术研究.

中图分类号: TN929.3; TP242
计量
- 文章访问数: 877
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- 被引次数: 0
出版历程
- 收稿日期: 2018-11-30
- 修回日期: 2018-12-18
- 刊出日期: 2019-04-30

Underwater Electrocommunication Protocol Design for Underwater Robot

1.
State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing 100871, China
2.
32555th Unit, The People’s Liberation Army of China, Guangzhou 510600, China
3.
Department of Urban Studies and Planning, Massachusetts Institute of Technology, Cambridge 02139, USA
4.
Institute of Ocean Research, Peking University, Beijing 100871, China

摘要

摘要: 作为一种新型的水下通信方法, 电场通信具有能耗低, 不易受外界环境干扰, 实时性、全向性好等优点, 可在小型水下机器人水下通信、组网中发挥良好作用。在前期的研究中, 已将电场通信系统集成在一款仿箱鲀机器鱼上。但由于使用的是共享信道, 当多机器鱼(节点)通信时, 难免出现通信碰撞问题。文中基于无线通信网络载波侦听多路访问/冲突避免(CSMA/CA)协议提出了电场通信协议。介绍了协议的运行机制以及信道状态的检测方法。为验证设计协议的有效性, 进行了MATLAB仿真及3条机器鱼电场通信实验。结果表明, 该协议能有效减少通信碰撞的发生。
- 水下机器人 /
- 仿箱鲀机器鱼 /
- 水下通信 /
- 电场通信 /
- 载波侦听多路访问/冲突避免
Abstract: As a novel underwater communication method, electrocommunication has the following advantages: lower energy consumption, less susceptible to external interference, real-time, and high omnidirectional performance. It has become a potential method for underwater communication and networking among small underwater robots. In previous research activities, the electrocommunication system has been integrated into a boxfish-like robotic fish. However, when multiple robotic fishes(nodes) communicate, collision is unavoidable because they share same electrocommunication channel. In this paper, an electrocommunication protocol based on the carrier sense multiple access/collision avoidance (CSMA/CA) protocol of wireless communication networks is proposed to solve the collision problem. The operating mechanism of the protocol and the channel state detection method are introduced. In order to validate the effectiveness of the proposed protocol, MATLAB simulations and electrocommunication experiments using three robotic fishes were conducted. The results show that this protocol can effectively reduce the occurrence of communication collisions.
- underwater robot /
- boxfish-like robotic fish /
- underwater communication /
- electrocommunication /
- carrier sense multiple access/collision avoidance(CSMA/CA)

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参考文献(25)

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