AUV Networking and Cooperative Navigation Based on Underwater Acoustic Communication

Constructing a robust underwater communication network to provide information related to formation support and navigation enhancement is the main objective of multi-autonomous undersea vehicle(AUV) formations. As a result, the allocation of limited resources to build a communication network that fulfills the requirements of multi-AUV formations in the actual environment, while considering limited underwater communication means and mature communication loads, is important for the research on multi-AUV cooperative operations. The application of networking and collaborative navigation engineering is insufficient in existing research on underwater mobile network formation, restricting the development in other layers. The multi-AUV network communication protocols, mechanisms, and enhanced implementation of cooperative navigation are therefore investigated in this study. A networking and coordination navigation scheme based on underwater acoustics communication is designed. This network is composed of three underwater acoustic communicators from Evologics, Germany. Experiments are thereafter conducted in an underwater formation composed of three AUVs. The results indicate that the communication network can provide effective communication and cooperation guarantee for the AUV formation.