For an Autonomous Underwater Vehicle (AUV), navigation is a key functionality. Dead-Reckoning (DR) navigation is an important class among all the AUV navigation methods. In DR, the measurement errors of inertial sensors (such as gyroscopes and accelerometers) lead to accumulated errors with time, which affect navigation accuracy significantly. Especially, accumulated errors in fast-changing environments, such as waves near or on the surface, are tough to handle. In this paper, we propose a Neural-Network based AUV Navigation method for fast-changing environments, called NN-DR. NN-DR employs neural network to predict pitch angles accurately, which is our core contribution. In NN-DR, we smoothly integrate Kalman filter, neural network, and velocity compensation to reduce accumulated errors. Extensive simulation experiments are conducted to test the correctness and stability of NN-DR, and the results show that NN-DR is very effective in lowering accumulated errors. For instance, at time 300 seconds, NN-DR achieves superior performance on accuracy for navigation, about 160 times than the state-of-the-art DR methods, demonstrating great advantage on AUV navigation for fast-changing environments.

Underwater acoustic sensor networks (UASNs) have been widely applied in marine monitoring, military reconnaissance, hydrology surveys, etc. Their location information is an important apriori knowledge when they are carried out underwater. However, the complex underwater environments impose great challenges on location acquisition, especially for autonomous underwater vehicles (AUVs), because of their mobility and finite power. In UASNs, existing location and navigation methods can offer AUVs position information, but they may either need a doppler velocity log (DVL), which is inefficient due to the complex underwater environments, or they may require additional localization infrastructure to deploy underwater, which suffers from large communication latency among AUVs, and costs enormous power. In this article, an efficient velocity estimation and location prediction method (VELP) in UASNs is proposed to avoid the above restrictions. It only utilizes collaborations based on communication among AUVs to achieve higher precision location with lower cost. Specifically, we apply an AUV-assisted velocity estimation algorithm with Doppler shift estimation in the physical layer of UASNs to improve the velocity estimation accuracy instead of the DVL. Meanwhile, we build a belief propagation-neural network-based location prediction model, which decreases the communication requirements and obviates introducing modeling errors. Extensive experimental results show VELP achieves superior performance on both accuracy and efficiency, demonstrating its great advantage in offering AUVs’ location information.

Autonomous Underwater Vehicles (AUVs) with multi-modal transmission can achieve high efficient data collection for underwater sensor networks. However, multi-modal transmission and trajectory planning impose great challenges on data collection in complex underwater environments. Most prior studies focus on design of multi-modal architecture, but lack of available implementation and consideration of AUVs' trajectory. Meanwhile, existing trajectory planning research cannot work well on data collection with multiple complex tasks simultaneously. In this paper, an efficient Data Collection scheme for Multi-modal underwater sensor networks based on Deep reinforcement learning (DCMD) is proposed to solve the above challenges. We first propose an optimal multi-modal transmission selection algorithm that provides an implementation to improve transmission efficiency. Then we propose a distributed multi-AUVs' trajectory planning algorithm based on deep reinforcement learning by AUVs' collaborations, considering transmission situation, ocean currents and underwater obstacles, to maximize collection rate and energy efficiency. In addition, we joint transmission and trajectory planning in a protocol to improve collection efficiency. Extensive experimental results show that DCMD achieves better performance on efficiency and reliability than four state-of-the-art methods, demonstrating its great advantage on collecting data for USNs.

Performing an effective media access control (MAC) protocol suffers from strong dependencies between Underwater Acoustic Networks’ upper and lower layers: 1) the network layer frequently uses geo-routing protocols, which do not provide the specific next-hop for MAC protocols, resulting in serious data collisions and 2) in such scenarios with the unknown next-hop, fixed orthogonal frequency-division multiplexing (OFDM) resource does not adapt to the changing environment, and degrades network performance (OFDM is a mature modulation technology in the physical layer). However, there is scant research on MAC protocols considering the network layer and the physical layer simultaneously, to solve data collisions and resource allocation. To this end, we present a cross-layer MAC protocol to integrate Geo-routing protocols and OFDM technology (GO-MAC) at the same time. GO-MAC employs a handshake scheme to allocate optimal communication resources and select the next-hop concurrently. First, we formulate the OFDM resource allocation as a joint optimization problem based on transmission mode, subcarrier spacing, guard interval, and transmission power, to decrease transmission delay and energy consumption. Then, a Karush–Kuhn–Tucker conditions-based Heuristic algorithm (KKT-H) is proposed to solve this problem. Finally, we consider node congestion and channel quality to assist geo-routing protocols with the next-hop selection, and decrease packet collisions. Simulation results show that our protocol matches geo-routing protocols and OFDM technology better than the state-of-the-art protocols, providing higher end-to-end reliability with lower costs.

A high-performance network deployment strategy supports fundamental network services, such as topology controls, protocol designs, and boundary detections in underwater wireless sensor networks (UWSNs). Existing deployment methods treat nodes within the communication range as connected. However, in addition to internode distance, packet errors and collisions are also significant factors for point-to-point connectivity. Furthermore, when allocating node locations, deployment strategies focus on maximizing coverage, ignoring the tradeoff between coverage and network performance (reliability, latency, and energy efficiency). To this end, an efficient deployment scheme with network performance modeling (EDNPM) is proposed, to provide reliable data transmission in a time-aware and energy-efficient way for UWSNs. Specifically, we first explore sensor locations’ impact on communication and network factors, to improve the point-to-point connectivity and network performance. A network performance evaluation model (NPEM) is established to quantify performance metrics for guiding network deployment. Based on NPEM, network deployment is formulated as a multiobjective optimization problem, and we propose a novel network connection-constraint particle swarm optimization (NCPSO) algorithm to solve this problem. Notably, EDNPM is a unified network deployment framework for various underwater applications. Extensive experiments demonstrate that EDNPM outperforms other deployment algorithms in terms of network performance, and robustness with different network settings.

Underwater wireless sensor networks (UWSNs) stand as promising technologies facilitating diverse underwater applications. However, the major design issues of the considered system are the severely limited energy supply and unexpected node malfunctions. This paper aims to provide fair, efficient, and reliable (FER) communication to the imperfect and energy-constrained UWSNs (IC-UWSNs). Therefore, we formulate a FER-communication optimization problem (FERCOP) and propose ICRL-JSA to solve the formulated problem. ICRL-JSA is a deep multi-agent reinforcement learning (MARL)-based optimizer for IC-UWSNs through joint link scheduling and power allocation, which automatically learns scheduling algorithms without human intervention. However, conventional RL methods are unable to address the challenges posed by underwater environments and IC-UWSNs. To construct ICRL-JSA, we integrate deep Q-network into IC-UWSNs and propose an advanced training mechanism to deal with complex acoustic channels, limited energy supplies, and unexpected node malfunctions. Simulation results demonstrate the superiority of the proposed ICRL-JSA scheme with an advanced training mechanism compared to various benchmark algorithms.