An Autonomous Underwater Vehicle Navigation Technique for Inspection and Data Acquisition in UWSNs

Abstract

This article introduces an innovative approach to the navigation of autonomous underwater vehicles (AUVs) in inspection and data acquisition missions within underwater wireless sensor networks (UWSNs). We combine at least five underwater navigation techniques to accomplish this mission, adapted from related works. These five techniques are employed to address at least four main challenges identified in inspection and data acquisition missions in UWSNs involving the use of AUVs, namely: communication constraints, energy usage optimization, precise navigation, and effective data acquisition. Limited simulations conducted demonstrate the reliability of the proposed model. The model successfully navigates to the target point in 3D coordinates X Y Z, assuming the launch point as d0 (10 40 40), and reaches the q-goal target point (45 45 0) within 21 seconds, with the addition of uattractive and urepulsive (magnetic beacon attraction force and repulsion force as simulation of underwater current disturbance factor). Furthermore, in the inspection and data acquisition mission in UWSN simulated as node points (o) in pink, AUV (∗) in blue effectively follows the predetermined points while acquiring data, as indicated by green lines (-) within just 5 seconds, achievable by increasing the value of α (angle of attack) of the target node to reduce delay time. The evaluation of the experimental simulations has raised issues and future research challenges, including the development of environmental simulation challenges that can closely resemble real conditions, the measurement of energy usage effectiveness to reach each target point, and the potential development of underwater recharging techniques. Furthermore, there is a need for advanced precise navigation and the advancement of effective data acquisition techniques.