An underwater WIFI-acoustic dual link cooperative control AUV for confined water applications

Zhang Meng; Wei Bowen; Jin Junhao; Tong Feng; Zhang Fumin

doi:10.11993/j.issn.2096-3920.2024-0117

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Article Navigation > Journal of Unmanned Undersea Systems > 2025 > Accepted Manuscript

Zhang Meng, Wei Bowen, Jin Junhao, Tong Feng, Zhang Fumin. An underwater WIFI-acoustic dual link cooperative control AUV for confined water applications[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0117

Citation:

Zhang Meng, Wei Bowen, Jin Junhao, Tong Feng, Zhang Fumin. An underwater WIFI-acoustic dual link cooperative control AUV for confined water applications[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0117

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An underwater WIFI-acoustic dual link cooperative control AUV for confined water applications

doi: 10.11993/j.issn.2096-3920.2024-0117

Zhang Meng^{1, 2},
Wei Bowen^{1, 3},
Jin Junhao^{1, 2},
Tong Feng^{1, 2
,},
Zhang Fumin^{4, 5}

1.
Colleage of Ocean and Earth Sciences, Xiamen University, Xiamen 361002, China
2.
National and Local Joint Engineering Research Center for Navigation and Location Service Technology, Xiamen University, Xiamen 361002, China
3.
School of Aerospace Engineering, Xiamen University, Xiamen 361002, China
4.
Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, HongKong 999077, China
5.
Cheng Kar-Shun Robtics Institute, The Hong Kong University of Science and Technology, HongKong 999077, China

Received Date: 2024-06-25
Accepted Date: 2024-09-09
Rev Recd Date: 2024-09-04

Available Online: 2025-01-14

Abstract

Abstract

In recent years, Autonomous Underwater Vehicle (AUV) has been widely used in various marine tasks such as environmental monitoring, resource exploration, underwater rescue, pipeline inspection and underwater construction, and its underwater control link generally adopts underwater acoustic communication link. For confined waters with complex terrain such as shallow shoals, reservoirs, lakes, canals and caves, strong multipath has a serious impact on the performance of high-speed underwater acoustic communication, and the limited water depth provides the possibility of wireless links. For this kind of application, a micro-sized AUV: SubseaBuddy-3 is jointed developed by Xiamen University(XM) and Hongkong University of Science and Technology (HKUST), which adopts the cooperative control of underwater acoustic and WIFI dual-link, in which the underwater acoustic link adopts the low-rate spread spectrum underwater acoustic communication mode to ensure the communication reliability under the strong multi-path condition, while the high-rate WIFI link can work in shallow water area, or the function debugging test before deployment, as well as the control and observation at the recovery stage. The underwater acoustic link and WIFI link can cooperate in different working depths and different information acquisition/return states, which can meet the needs of reliable accusation and real-time/quasi-real-time underwater image return under restricted water conditions. At the same time, the AUV is equipped with an IMU and depth sensor for attitude and depth control. The effectiveness of the dual link AUV is verified by the pool experiment.
- autonomous undersea vehicle,
- acoustic communication,
- dual-link,
- attitude and depth control

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References(18)

References

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