As a prototype of the underwater Internet of Things-enabled maritime transportation systems, multi-Autonomous Underwater Vehicle (AUV)-based Underwater Wireless Networks (UWNs) have become an important research topic due to their distribution and robustness. In this paper, the concept of multi-AUV-based UWNs is first defined, where AUV is regarded as a network node, and communication among the AUVs is the potential network links. Then, to improve network scalability and controllability, a paradigm of Software Defined multi-AUV-based UWNs (SD-UWNs) is proposed, where the Software Defined Network (SDN) technique is used to upgrade the UWN architecture by directing intelligent network functions. Topology and artificial potential field theories are applied to construct a network control model for the SD-UWNs. Based on the efficient data sharing ability of the SD-UWNs, an early warning obstacle avoidance-enabled path planning scheme is proposed to guarantee safe sailing of the SD-UWNs, where comprehensive obstacle avoidance scenarios are taken into account. Simulation results demonstrate that the proposed method is effective in planning the cooperative operation for the SD-UWNs and is capable of performing accurate and reliable obstacle avoidance tasks.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Early Warning Obstacle Avoidance-Enabled Path Planning for Multi-AUV-Based Maritime Transportation Systems


    Contributors:
    Han, Guangjie (author) / Qi, Xingyue (author) / Peng, Yan (author) / Lin, Chuan (author) / Zhang, Yu (author) / Lu, Qi (author)


    Publication date :

    2023-02-01


    Size :

    6536472 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Obstacle avoidance early warning method for tower crane

    ZHANG JINGMENG / ZHANG JINGYONG | European Patent Office | 2022

    Free access

    Early warning obstacle avoidance system for delivery vehicles

    Duan, Ruwei / Xu, Hongyan / Liu, Huaqiong | SPIE | 2023


    Early warning obstacle avoidance system for delivery vehicles

    Duan, Ruwei / Xu, Hongyan / Liu, Huaqiong | British Library Conference Proceedings | 2023


    Obstacle Avoidance Path Planning of Rotor UAV

    Zhang, Xiaodong / Hao, Xiangyang / Sun, Guopeng et al. | British Library Conference Proceedings | 2017


    A PATH PLANNING STRATEGY FOR OBSTACLE AVOIDANCE

    Blanc, G. / Mezouar, Y. / Martinet, P. et al. | British Library Conference Proceedings | 2006