Underwater Wireless Communications for Cooperative Robotics with UWSim-NET

Applied Sciences

Antonio Soriano-Asensi¹  JoséVicente Martí²  Diego Centelles²  PedroJ. Sanz²  Raúl Marín² 

[1] Departament d’Informàtica–ETSE, Universitat de València, 46100 Burjassot, Spain;Interactive Robotic Systems Lab, Universitat Jaume I, 12071 Castelló de la Plana, Spain;

关键词: underwater robotics;    underwater communications;    simulation;    Hardware In The Loop;   

DOI  :  10.3390/app9173526

来源: DOAJ

【 摘 要 】

The increasing number of autonomous underwater vehicles (AUVs) cooperating in underwater operations has motivated the use of wireless communications. Their modeling can minimize the impact of their limited performance in real-time robotic interventions. However, robotic frameworks hardly ever consider the communications, and network simulators are not suitable for HIL experiments. In this work, the UWSim-NET is presented, an open source tool to simulate the impact of communications in underwater robotics. It gathers the benefits of NS3 in modeling communication networks with those of the underwater robot simulator (UWSim) and the robot operating system (ROS) in modeling robotic systems. This article also shows the results of three experiments that demonstrate the capabilities of UWSim-NET in modeling radio frequency (RF) and acoustic links in underwater scenarios. It also permits evaluating several MAC protocols such as additive links online Hawaii area (ALOHA), slotted floor acquisition multiple access (S-FAMA) and user defined protocols. A third experiment demonstrated the excellent capabilities of UWSim-NET in conducting hardware in the loop (HIL) experiments.

【 授权许可】

Unknown