AUV with Underwater Acoustic-WIFI Link Cooperative Control for Confined Waters

ZHANG Meng; WEI Bowen; JIN Junhao; TONG Feng; ZHANG Fumin

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

Volume 33 Issue 1

Mar 2025

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Article Navigation > Journal of Unmanned Undersea Systems > 2025 > 33(1): 56-64

ZHANG Meng, WEI Bowen, JIN Junhao, TONG Feng, ZHANG Fumin. AUV with Underwater Acoustic-WIFI Link Cooperative Control for Confined Waters[J]. Journal of Unmanned Undersea Systems, 2025, 33(1): 56-64. doi: 10.11993/j.issn.2096-3920.2024-0117

Citation:

ZHANG Meng, WEI Bowen, JIN Junhao, TONG Feng, ZHANG Fumin. AUV with Underwater Acoustic-WIFI Link Cooperative Control for Confined Waters[J]. Journal of Unmanned Undersea Systems, 2025, 33(1): 56-64. doi: 10.11993/j.issn.2096-3920.2024-0117

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AUV with Underwater Acoustic-WIFI Link Cooperative Control for Confined Waters

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 361102, China
2.
National and Local Joint Engineering Research Center for Navigation and Location Service Technology, Xiamen University, Xiamen 361105, China
3.
School of Aerospace Engineering, Xiamen University, Xiamen 361102, China
4.
Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong 999077, China
5.
Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong 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

Autonomous undersea vehicle(AUV) generally adopts acoustic communication links for underwater control. However, in complex and confined waters such as coastal shoals, reservoirs, lakes, canals, and caves, complex multiple paths can seriously impact the performance of high-speed underwater acoustic communication, while the limited water depth of these environments makes wireless links a viable option. Therefore, a micro-sized AUV, SubseaBuddy-3, was developed that integrated both underwater acoustic and WIFI links for cooperative control. The underwater acoustic link adopted the low-speed spread-spectrum communication mode to ensure communication reliability under strong multipath conditions, while the high-speed WIFI link could work in shallow water, be used for pre-deployment function testing, and assist with the control and observation during retrieval. By coordinating the underwater acoustic and WIFI links based on working depths and data acquisition/transmission states, the system ensured reliable command and control, along with real-time/quasi-real-time underwater image transmission in confined waters. Additionally, the AUV was equipped with an inertial measurement unit(IMU) and a depth sensor for attitude and depth control. The effectiveness of the dual-link communication system for AUVs was validated by the pool experiment.
- autonomous undersea vehicle,
- underwater acoustic communication,
- dual-WIFI link,
- cooperative control,
- confined waters

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References(18)

References

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