This study investigates the dual-task control challenge of path following and obstacle avoidance for deep-sea mining robots operating in complex, unstructured environments. To address limitations traditional training strategies, we propose an optimized framework that integrates environmental design enhancements algorithmic advancements. Specifically, develop a Dual-Task Training Environment by combining Random Obstacle with newly proposed Obstructed Path Environment, ensuring balanced...

Medium access control (MAC) protocol is an important link for achieving networks function in any wireless networks; efficient and reliable MAC crucial effective underwater acoustic sensor (UASNs). Significant differences between UASNs terrestrial (TSNs) render the traditional protocols applied on land inapplicable underwater. Existing use omnidirectional antenna, which wastes energy, restricts network’s coverage range, brings about unnecessary interferences neighbor nodes. This paper...

Due to challenges posed by long propagation distances, high mobility, limited bandwidth, multipath propagation, and Doppler effects in underwater acoustic sensor networks (UASNs), the design of routing protocols faces numerous complexities. To enhance reliability sparse node regions reduce network energy consumption, this paper proposes a dependable energy-efficient protocol termed WLQRP for weighting link-quality-based protocol. leverages link quality information between nodes data...

This paper presents a new routing scheme for underwater ad hoc networks based on directional antennas. Ad with antennas have become hot research topic because of space reuse may increase capacity. At present, researchers applied traditional self-organizing protocols (such as DSR, AODV) [1] [2] this type networks, and the is shortest path metric. However, such schemes often suffer from long transmission delays frequent link fragmentation along intermediate nodes selected route. caused by...

Most of the existing underwater acoustic communication networks use omni-directional transmission technology, which has problems such as poor concealment and low throughput, severely limits network performance. The application directional technology to can effectively solve various in omnidirectional network, but there will also be new problems, deafness problem. Aiming at deafness, this paper proposes a deafness-free medium access control (DF-MAC) protocol for with antennas. In protocol,...

This paper presents some experimental results of underwater acoustic communication networks both in a lake trial and sea trial. Three specially designed MAC protocols are introduced tested: full-duplex based protocol (FD-MAC), relative clock (RC-MAC) collision free (CF-MAC). The FD-MAC was implemented on modem; vector hydrophone used to improve the receiving gain, dual-mode baffle technology were applied reduce local emission interference. Experimental show that exposed/hidden terminal...

Matched field processing (MFP) has been regarded as one of the most successful acoustical methods for positioning underwater sources. In this paper, narrowband MFP method is combined with a recently developed framework—the graph signal (GSP) method. Following paradigm GSP, spatial adjacency matrix constructed arbitrary distributed sensors based on Green's function, then source located by utilizing Fourier transform. The simulation results illustrate that graph-based outperforms conventional...

Media Access Control (MAC) protocols are an important part of network operations and should be selected according to the application scale network. In this paper we have studied two such present results simulation experiments. We simulated MAC in OMNeT++ simulator compare performance ALOHA MACAW for underwater acoustic communication The statistics terms throughput, channel utilization, end-to-end delay, percentage successful message sending been obtained by changing packet length, load,...

Traditional offline redundancy resolution of trajectories for redundant manipulators involves computing inverse kinematic solutions Cartesian space paths, constraining the manipulator to a fixed path without real-time adjustments. Online can achieve adjustment but it cannot consider subsequent points, leading possibility being forced stop mid-motion due joint constraints. To address this, this paper introduces dynamic programming-based along prescribed paths with adjustment. The proposed...

Traditional underwater acoustic communication networks (UACNs) generally use omnidirectional transmission technology that causes a large number of data-packet collisions, thus resulting in low network throughput and high end-to-end delays. Compared with technology, directional only sends receives data packets specified direction. This can significantly reduce the probability collisions improve performance. However, it also deafness problem, which occurs when sending node packet to receiving...

Matched Field Processing (MFP) locates the underwater sources by matching received data with replica vectors, which could be regarded as a generalized beamformer. In this paper, MFP method is combined recently developed framework -- Graph Signal (GSP) method. Following paradigm of GSP, spatial adjacency matrix constructed for arbitrary distributed sensors based on Green's function, then source located utilizing graph Fourier transform. The simulation results illustrate that Graph-based...

Self-localization is one of the basic issues for Mobile Underwater Acoustic Networks (MUANs). Considering characteristics MUANs, fewer anchor nodes and node's movement make high precision self-localization be more difficult to achieved. In this paper, a virtual reference-assisted algorithm MUANs with only has been proposed. Firstly, constructs reference assist real in accomplishing procedure by taking advantage multi-path communication channels which reduces number that should used...