Research On Clustering Algorithm Of Underwater Unmanned System With Bandwidth Limitation

In the face of the vast and complex ocean environment,the cluster of underwater unmanned vehicles(UUV)has become an important direction for the future development of UUV.Due to the complexity of underwater environment,the underwater communication of UUV cluster is confronted with great challenges in the research of clustering algorithm.Different from land-based communication,underwater communication technology research is full of challenges because electromagnetic waves cannot be used for long-distance signal transmission.At present,underwater communication mainly adopts underwater acoustic communication.Underwater acoustic communication transmits signals through sound waves.Current underwater communication is mainly transmitted by sound waves.Due to the slow propagation speed of acoustic wave in water and the fast attenuation of amplitude,the communication speed of underwater acoustic communication mode is slow and the communication delay is high.So,it is necessary to consider the problem of bandwidth limitation in the process of transmission.Based on the research results of the existing clustering algorithm,this paper will extend it to the model of underwater unmanned vehicle.According to the characteristics of the underwater unmanned systems cluster,discuss current bandwidth limit model as well as the communication time delay model,design the bandwidth limitations underwater unmanned systems under the condition of clustering algorithm and unmanned underwater systems with communication time delay cluster algorithm,and the MATLAB simulation,from the lattice stability and convergence speed two aspects to analyze the convergence of the algorithm.Finally,a semi-physical simulation platform was built to verify the feasibility of the algorithm.