Design And Implementation Of Communication Protocol For Multiple Unmanned Surface Vehicles Cooperation

In recent years,the technique of Unmanned Surface Vehicle(USV)is getting matured.More and more research institutions and enterprises have joined into the research work of this field.The scope of the searching area and the demand of real-time efficiency of USV systems are gradually increasing.It is difficult for a single USV to meet the requirements of current experimental and practical working environment.The research on the networking of multiple USVs is imperative.Establishing a stable and efficient communication subsystem is important pre-condition and guarantee for multiple USVs system.To achieve the above requirements,two major issues need to be resolved.The first one is the construction of stable and robust multi-US Vs communication network topology;the other one is the design of multiple USVs network communication protocols and data structures.Therefore,the main research goal of this dissertation is to construct a communication subsystem of multiple USVs system and establish a robust protocol architecture and data format standard.In this dissertation,the existing industrial bus protocols and the NMEA 2000 protocol which is mainly used in the onboard control sub-system are considered.And a set of communication protocol and corresponding data format that are applicable to multi-USVs networks are designed.And for the existing unmanned experimental equipment in the lab,a wireless communication subsystem is designed,utilizing the embedded Linux development environment and the method of network communication.Good results were obtained during the field trials.This paper also proposes an unmanned ship network topology control algorithm based on an improved adaptive genetic algorithm.Based on classical genetic algorithms,adaptive selection,crossover and mutation operators are introduced.The program was tested under MATLAB simulation environment.We found that the algorithm can converge successfully.Fast convergence speed and high accuracy of topology control were also obtained.